New feature request

[cesar553]

I would like to see the ability to stitch together more than one scan. The use of the positioning feature of the D435i should help, thanks

[state-of-the-art]

Hi @cesar553

Thank you for your request! For sure we have plans about automation of combining the multiple pointclouds. Unfortunately it's quite difficult task to fuse a number of pointclouds, but we working on it and already have a plan to achieve some of the feature you requesting in the release v0.5.0.

Unfortunately D435i have just IMU that is not so much better than the one embedded in the most of the phones. We already using android gyro - but librealsense still not supporting the one in d435i on android. But hopefully Google AR Core could help us to make it more general for any camera we using. We just starting to ding in this direction.

Related tickets: You can follow the feature requests to check the plans and vote for them and watch on the progress:

• Capture mode: walk-around #14 - walk-around mode - seems transformed to universal 3d-positioning task using AR Core from Google
• Fusing tool #16 - fusing the pointclouds
• Positioning tool for pc #10 - manual positioning

[cesar553]

Thank you for the reply. I think the best approach to achieve the combining of multiple point clouds is to use paper targets. There is a company that got able to make work. Dot3D products

[state-of-the-art]

So there is a number of ways to do that, but I think in our case will be better to use already prepared opensource PCL library (that we already partially using to compress the PCD files). Like this one: http://pointclouds.org/documentation/tutorials/registration_api.php#registration-api

But probably with precise 3d positioning of arcore that will be much simpler.