3D Point Cloud Stitching

Operator Function

Transform the input point cloud into the coordinate system of the target point cloud based on the input transformation matrix. After merging duplicate points, output the stitched point cloud.

Parameter Introduction

Input Parameters

Parameter	Range	Default Value	Description	Illustration
Input Image	0-8	0	The IM number for image input
Target Point Cloud	0-8	0	Point cloud in target coordinate system

Calculation Parameters

Parameter	Range	Default Value	Description	Image
Transformation Matrix			Matrix to transform input point cloud to target point cloud coordinate system. Note: This matrix needs to be pre-calculated and then input into the corresponding position in the operator editing interface.
Distance Threshold		0.010	Distance threshold for point cloud duplicate point merging; point pairs smaller than this threshold will be considered duplicate point pairs.
Output Image	0-8	0	The IM number for image output

Output Parameters

Name	Type	Range	Description
Result	bool	true/false	true for success false for failure
Warning	bool	true/false	true indicates there is a warning false indicates there is none
Message	string		Outputs success, error, or warning information; if there is no error or warning, it is empty
Time	float		Operator execution time, unit: ms

Exception Troubleshooting

No.	Exception Information	Corresponding Parameter	Solution
1	Point cloud stitching failed		Check if either input point cloud or target point cloud is empty

Example Introduction

Engineering Design

1. Select the Load 3D Point Cloud tool to load the input 3D point cloud image into IM0.
2. Select the Load 3D Point Cloud tool to load the target point cloud image into IM1.
3. Select the 3D Point Cloud Stitching tool.

Tool Usage

1. Select the IM number of the input image for operation.
2. Select the IM number of the target point cloud.
3. Set Transformation Matrix, Distance Threshold, and Output Image parameters.
4. Click Test to check if the image window and parameters meet expectations.
5. If there are no issues, click Save, then run the operator in the run list to view the results in the corresponding IM.