Object Location

Descriptors

This is a project for point cloud matching and recognition based on traditional descriptors. The descriptors used for point cloud matching include PFH/FPFH/RSD/3DSC/USC/SHOT/SPIN IAMGE/ROPS, etc. The descriptors used for point cloud recognition include VFH/CVFH/OUR CVFH/ESF/GFPFH/GRSD.

Requirements

• OpenCV
• PCL
• Eigen3
• libconfig++

Usage

After install all requirements:

    mkdir build && cmake ..
    make -j

• Point Cloud Matching: ./test_match "path1 of 1st point cloud" "path2 of 2nd point cloud".
• Point Cloud Recognition: ./test_recognize "path1 of 1st point cloud" "path2 of 2nd point cloud".
• Modify the config file ("global_param.cfg" and "local_param.cfg") for better perfomance.