I am testing the Intel RealSense D435 camera and have been able to create multiple Point Clouds (.ply) of a certain object. Each Point Cloud is taken in a different viewing angle of the object.

Now I wish to merge all these point clouds into a single, 3D Object. I have tried CloudCompare but this requires manual cropping of outliers and noisy data, as well as translating each Point cloud.

I wonder if there is a piece of code that can merge point clouds together and remove noisy data in order to have a rough 3D Object?


closed as off-topic by Chris says Reinstate Monica, trichoplax Oct 14 '18 at 18:32

This question appears to be off-topic. The users who voted to close gave this specific reason:

  • "Questions asking us to recommend or find a book, tool, software, tutorial or other off-site resource are off-topic for Computer Graphics as they tend to attract opinionated answers and spam. Instead, describe your problem or need and the steps, if any, you've taken to solve it." – Chris says Reinstate Monica, trichoplax
If this question can be reworded to fit the rules in the help center, please edit the question.


CloudCompare has statistical outlier removal (called SOR) function that can eliminate all lonely points for you. I would filter each *.ply first and then try to carry out a cloud to cloud registration. For registration, you can use MeshLab or use 30 days trails of commercially available software such as Faro Scene. Scene won't accept *.ply file though, so you need to convert your files to *.e57 first. Good luck.


Not the answer you're looking for? Browse other questions tagged or ask your own question.