3D reconstruction from several point clouds with camera pose


I have some problem on 3D reconstruction.

My situation is below.

I collected The Scene Info that include Pointcloud and estimated camera pose at that time I captured.

I want to make map from several point clouds.

So, I just merged point cloudes to one point cloud.

스크린샷, 2017-11-16 15-26-58

My question is how to merge point clouds… well.