在Kinect Fusion中合并(对齐)两个不同的点云数据 [英] Merging(Align) two different point cloud data in Kinect Fusion
问题描述
我现在正在使用两个不同的传感器进行kinect融合点云对齐。 以下是代码,
bool success = volume.AlignPointClouds(sensor1PointCloud,sensor2PointCloud,10,fusionColorFrame,out alignmentEnergy,ref currentMatrix);
如何获得合并(对齐)点云数据。
上述函数( fusionColorFrame) 仅返回整数数据....请帮助我如果有人知道... 。
提前致谢。
kirubha
api不返回点云。 volume api的目的是将点云数据集成到Fusion的内部重建中。通过调用api,它将提供一个矩阵,然后您可以将这些点乘以对齐两者。
如果目的是获得合并点云,那么您可能需要查看点云库PCL。
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Hi,
I am now working in kinect fusion point cloud align from two different sensors. Here is the code,
bool success = volume.AlignPointClouds(sensor1PointCloud, sensor2PointCloud, 10, fusionColorFrame, out alignmentEnergy, ref currentMatrix);
How to get the merged(Aligned) point cloud data.
The above function (fusionColorFrame) returns only integer data....Pls help me If any body know....
Thanks in Advance.
kirubha
The api doesn't return a point cloud. The intent of the volume api is to integrate point cloud data into the internal reconstruction of Fusion. By calling the api, it will provide a Matrix that you can then multiply the points by to align the two.
If the intent is to get a merged point cloud, then you might want to look into a point cloud library PCL.
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