PointCloudDescriptors

A simple command line program to generate relevant descriptors from point cloud data (.PCD files) before exporting the results into Numpy Files (.NPY files) used with python.

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Build

1. mkdir build
2. cd build
3. cmake ../src/
4. make

If the above commands crash, execute sudo apt install libpcl-* and try again.

Run

./PointCloudDescriptors 1 ../resources/apple.pcd ./appel.npy 0.05 0.01

References

[1] Salti, S., Tombari, F., & Di Stefano, L. (2014). SHOT: Unique signatures of histograms for surface and texture description. Computer Vision and Image Understanding, 125, 251-264.

[2] Tombari, F., Salti, S., & Di Stefano, L. (2010, October). Unique shape context for 3D data description. In Proceedings of the ACM workshop on 3D object retrieval (pp. 57-62).

License