Good descriptor #1907

SeyedHamidreza · 2017-06-27T17:06:06Z

This is an implementation of the Global Orthographic Object Descriptor (GOOD) which has been presented in the following papers:

[1] Kasaei, S. Hamidreza,  Ana Maria Tomé, Luís Seabra Lopes, Miguel Oliveira 
"GOOD: A global orthographic object descriptor for 3D object recognition and manipulation." 
Pattern Recognition Letters 83 (2016): 312-320.

[2] Kasaei, S. Hamidreza, Luís Seabra Lopes, Ana Maria Tomé, Miguel Oliveira 
"An orthographic descriptor for 3D object learning and recognition." 
2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, 2016, 
pp. 4158-4163.

The GOOD descriptor has been designed to be robust, descriptive and efficient to compute and use. GOOD descriptor has two outstanding characteristics:

(1) Providing a good trade-off among:
- descriptiveness,
- robustness,
- computation time,
- memory usage.

(2) Allowing concurrent object recognition and pose estimation for manipulation.

The performance of the proposed object descriptor is compared with the main state-of-the-art descriptors. Experimental results show that the overall classification performance obtained with GOOD is comparable to the best performances obtained with the state-of-the-art descriptors. Concerning memory and computation time, GOOD clearly outperforms the other descriptors. Therefore, GOOD is especially suited for real-time applications.

The current implementation of GOOD descriptor supports several functionalities for 3D Object Recognition and Object Manipulation. In the current distribution, you can find

- an implementation of the GOOD Descriptor (good.h, good.hpp and good.cpp) in "pcl/features/" path
- an example namely "/pcl/examples/features/example_good_descriptor.cpp" that demonstrates how to use  the GOOD Descriptor on a test object

To show all the functionalities and properties of the GOOD descriptor, a real demonstration was performed. A video of this demonstration is available in: https://youtu.be/iEq9TAaY9u8

Cheers,
Hamidreza

…nted in Pattern Recognition Letters Journal (JULY2016) and IROS2016 (October).

SergioRAgostinho · 2017-06-28T10:45:24Z

Thanks @SeyedHamidreza. Can you suppress these though? Also note, it's threshold not thereshold 😅

In file included from /home/travis/build/PointCloudLibrary/pcl/features/src/good.cpp:39:

/home/travis/build/PointCloudLibrary/pcl/features/include/pcl/features/impl/good.hpp:227:58: warning: comparison of integers of different signs: 'int' and 'unsigned int' [-Wsign-compare]

  if ((Xpositive < Xnegative) and (Xnegative - Xpositive >= thereshold))

                                   ~~~~~~~~~~~~~~~~~~~~~ ^  ~~~~~~~~~~

/home/travis/build/PointCloudLibrary/pcl/features/src/good.cpp:46:23: note: in instantiation of member function 'pcl::GOODEstimation<pcl::PointXYZ>::signDisambiguationXAxis' requested here

  template class pcl::GOODEstimation<pcl::PointXYZ>; template class pcl::GOODEstimation<pcl::PointXYZI>; template class pcl::GOODEstimation<pcl::PointXYZRGB>; template class pcl::GOODEstimation<pcl::PointXYZRGBA>;

                      ^

In file included from /home/travis/build/PointCloudLibrary/pcl/features/src/good.cpp:39:

/home/travis/build/PointCloudLibrary/pcl/features/include/pcl/features/impl/good.hpp:257:58: warning: comparison of integers of different signs: 'int' and 'unsigned int' [-Wsign-compare]

  if ((Ypositive < Ynegative) and (Ynegative - Ypositive >= thereshold))

                                   ~~~~~~~~~~~~~~~~~~~~~ ^  ~~~~~~~~~~

/home/travis/build/PointCloudLibrary/pcl/features/src/good.cpp:46:23: note: in instantiation of member function 'pcl::GOODEstimation<pcl::PointXYZ>::signDisambiguationYAxis' requested here

  template class pcl::GOODEstimation<pcl::PointXYZ>; template class pcl::GOODEstimation<pcl::PointXYZI>; template class pcl::GOODEstimation<pcl::PointXYZRGB>; template class pcl::GOODEstimation<pcl::PointXYZRGBA>;

                      ^

In file included from /home/travis/build/PointCloudLibrary/pcl/features/src/good.cpp:39:

/home/travis/build/PointCloudLibrary/pcl/features/include/pcl/features/impl/good.hpp:227:58: warning: comparison of integers of different signs: 'int' and 'unsigned int' [-Wsign-compare]

  if ((Xpositive < Xnegative) and (Xnegative - Xpositive >= thereshold))

                                   ~~~~~~~~~~~~~~~~~~~~~ ^  ~~~~~~~~~~

/home/travis/build/PointCloudLibrary/pcl/features/src/good.cpp:46:74: note: in instantiation of member function 'pcl::GOODEstimation<pcl::PointXYZI>::signDisambiguationXAxis' requested here

  template class pcl::GOODEstimation<pcl::PointXYZ>; template class pcl::GOODEstimation<pcl::PointXYZI>; template class pcl::GOODEstimation<pcl::PointXYZRGB>; template class pcl::GOODEstimation<pcl::PointXYZRGBA>;

                                                                         ^

In file included from /home/travis/build/PointCloudLibrary/pcl/features/src/good.cpp:39:

/home/travis/build/PointCloudLibrary/pcl/features/include/pcl/features/impl/good.hpp:257:58: warning: comparison of integers of different signs: 'int' and 'unsigned int' [-Wsign-compare]

  if ((Ypositive < Ynegative) and (Ynegative - Ypositive >= thereshold))

                                   ~~~~~~~~~~~~~~~~~~~~~ ^  ~~~~~~~~~~

/home/travis/build/PointCloudLibrary/pcl/features/src/good.cpp:46:74: note: in instantiation of member function 'pcl::GOODEstimation<pcl::PointXYZI>::signDisambiguationYAxis' requested here

  template class pcl::GOODEstimation<pcl::PointXYZ>; template class pcl::GOODEstimation<pcl::PointXYZI>; template class pcl::GOODEstimation<pcl::PointXYZRGB>; template class pcl::GOODEstimation<pcl::PointXYZRGBA>;

                                                                         ^

In file included from /home/travis/build/PointCloudLibrary/pcl/features/src/good.cpp:39:

/home/travis/build/PointCloudLibrary/pcl/features/include/pcl/features/impl/good.hpp:227:58: warning: comparison of integers of different signs: 'int' and 'unsigned int' [-Wsign-compare]

  if ((Xpositive < Xnegative) and (Xnegative - Xpositive >= thereshold))

                                   ~~~~~~~~~~~~~~~~~~~~~ ^  ~~~~~~~~~~

/home/travis/build/PointCloudLibrary/pcl/features/src/good.cpp:46:126: note: in instantiation of member function 'pcl::GOODEstimation<pcl::PointXYZRGB>::signDisambiguationXAxis' requested here

  template class pcl::GOODEstimation<pcl::PointXYZ>; template class pcl::GOODEstimation<pcl::PointXYZI>; template class pcl::GOODEstimation<pcl::PointXYZRGB>; template class pcl::GOODEstimation<pcl::PointXYZRGBA>;

                                                                                                                             ^

In file included from /home/travis/build/PointCloudLibrary/pcl/features/src/good.cpp:39:

/home/travis/build/PointCloudLibrary/pcl/features/include/pcl/features/impl/good.hpp:257:58: warning: comparison of integers of different signs: 'int' and 'unsigned int' [-Wsign-compare]

  if ((Ypositive < Ynegative) and (Ynegative - Ypositive >= thereshold))

                                   ~~~~~~~~~~~~~~~~~~~~~ ^  ~~~~~~~~~~

/home/travis/build/PointCloudLibrary/pcl/features/src/good.cpp:46:126: note: in instantiation of member function 'pcl::GOODEstimation<pcl::PointXYZRGB>::signDisambiguationYAxis' requested here

  template class pcl::GOODEstimation<pcl::PointXYZ>; template class pcl::GOODEstimation<pcl::PointXYZI>; template class pcl::GOODEstimation<pcl::PointXYZRGB>; template class pcl::GOODEstimation<pcl::PointXYZRGBA>;

                                                                                                                             ^

In file included from /home/travis/build/PointCloudLibrary/pcl/features/src/good.cpp:39:

/home/travis/build/PointCloudLibrary/pcl/features/include/pcl/features/impl/good.hpp:227:58: warning: comparison of integers of different signs: 'int' and 'unsigned int' [-Wsign-compare]

  if ((Xpositive < Xnegative) and (Xnegative - Xpositive >= thereshold))

                                   ~~~~~~~~~~~~~~~~~~~~~ ^  ~~~~~~~~~~

/home/travis/build/PointCloudLibrary/pcl/features/src/good.cpp:46:180: note: in instantiation of member function 'pcl::GOODEstimation<pcl::PointXYZRGBA>::signDisambiguationXAxis' requested here

  template class pcl::GOODEstimation<pcl::PointXYZ>; template class pcl::GOODEstimation<pcl::PointXYZI>; template class pcl::GOODEstimation<pcl::PointXYZRGB>; template class pcl::GOODEstimation<pcl::PointXYZRGBA>;

                                                                                                                                                                                   ^

In file included from /home/travis/build/PointCloudLibrary/pcl/features/src/good.cpp:39:

/home/travis/build/PointCloudLibrary/pcl/features/include/pcl/features/impl/good.hpp:257:58: warning: comparison of integers of different signs: 'int' and 'unsigned int' [-Wsign-compare]

  if ((Ypositive < Ynegative) and (Ynegative - Ypositive >= thereshold))

                                   ~~~~~~~~~~~~~~~~~~~~~ ^  ~~~~~~~~~~

/home/travis/build/PointCloudLibrary/pcl/features/src/good.cpp:46:180: note: in instantiation of member function 'pcl::GOODEstimation<pcl::PointXYZRGBA>::signDisambiguationYAxis' requested here

  template class pcl::GOODEstimation<pcl::PointXYZ>; template class pcl::GOODEstimation<pcl::PointXYZI>; template class pcl::GOODEstimation<pcl::PointXYZRGB>; template class pcl::GOODEstimation<pcl::PointXYZRGBA>;

taketwo · 2017-06-28T12:03:34Z

examples/features/example_good_descriptor.cpp

+ * Software License Agreement (BSD License)
+ *
+ *  Point Cloud Library (PCL) - www.pointclouds.org
+ *  Copyright (c) 2010-2012, Willow Garage, Inc.


Unless you developed this code back in 2010-2012 while working at Willow Garage, please remove this copyright.
Instead, please add Copyright (c) 2017-, Open Perception, Inc.
Same for the remaining files.

taketwo · 2017-06-28T12:05:09Z

features/CMakeLists.txt

@@ -1,6 +1,6 @@
 set(SUBSYS_NAME features)
 set(SUBSYS_DESC "Point cloud features library")
-set(SUBSYS_DEPS common search kdtree octree filters 2d)
+set(SUBSYS_DEPS common sample_consensus search kdtree octree filters 2d)


@SergioRAgostinho I hope this new dependency won't break your CI job distribution :)

Filters also has it fortunately :phew:

taketwo · 2017-06-28T12:05:34Z

features/CMakeLists.txt

@@ -62,6 +62,8 @@ if(build)
        "include/pcl/${SUBSYS_NAME}/usc.h"
        "include/pcl/${SUBSYS_NAME}/boundary.h"
        "include/pcl/${SUBSYS_NAME}/range_image_border_extractor.h"
+        "include/pcl/${SUBSYS_NAME}/range_image_border_extractor.h"


Duplicate line

Duplicate line is still here :x

taketwo · 2017-06-28T12:07:07Z

features/include/pcl/features/good.h

+	* \param[in] number_of_bins_
+	* \param[in] threshold_
+	*/
+      GOODEstimation(unsigned int, float);


Please add parameter names to the signature. Also, it would be nice to see explanation what these parameters mean.

taketwo · 2017-06-28T12:10:25Z

features/include/pcl/features/good.h

+	* \param[in] cloud the boost shared pointer to a point cloud.
+	*/      
+      void
+      setInputCloud (boost::shared_ptr<pcl::PointCloud<PointInT> > cloud);  


Please use typename pcl::PointCloud<PointInT>::Ptr here and everywhere. At some point in future we may want to switch to std::shared_ptr, and it will be simpler if the typedef is used.

taketwo · 2017-06-28T12:11:05Z

features/include/pcl/features/good.h

+  */
+
+  template <typename PointInT>
+  class GOODEstimation


Why don't you derive from pcl::Feature class?

Also, we need PCL_EXPORTS here, i.e. class PCL_EXPORTS GOODEstimation

taketwo · 2017-06-28T12:13:27Z

A general comment: please update to conform to the PCL Style guide. Especially spaces between function names and braces.

SergioRAgostinho

I haven't completed by there's considerable changes to be done:

Not being derived from pcl::feature!
Code style
Copyright notices
No use of const qualifiers

SergioRAgostinho · 2017-06-28T11:00:01Z

examples/features/example_good_descriptor.cpp

+#include <boost/filesystem.hpp>
+
+typedef pcl::PointXYZRGBA PointT;  
+using namespace pcl;


Please refrain from using using namespace whatever;, even though this is a contained example. Just define the symbols you use the most. I also noticed you then use the fully qualified names later on in the file, so in this case just remove it.

SergioRAgostinho · 2017-06-28T11:04:46Z

examples/features/example_good_descriptor.cpp

+int main(int argc, char* argv[])
+{  
+
+  if (argc < 2 ||argc > 2) 


why not simply != 2 ?

SergioRAgostinho · 2017-06-28T11:04:55Z

examples/features/example_good_descriptor.cpp

+      std::cout << "Cloud reading failed." << std::endl;
+      return (-1);
+    }
+  }


Consider replacing both these blocks for pcl::io::load defined in <pcl/io/auto_io.h>. This will refrain you from having to check file extensions.

SergioRAgostinho · 2017-06-28T11:11:25Z

examples/features/example_good_descriptor.cpp

+using namespace pcl;
+
+int
+readPointCloud(std::string object_path,  boost::shared_ptr<pcl::PointCloud<PointT> > point_cloud)


Regarding spacing of the parenthesis in functions have a look at http://www.pointclouds.org/documentation/advanced/pcl_style_guide.php#spacing

This would lead to

readPointCloud (std::string object_path, boost::shared_ptr<pcl::PointCloud<PointT>> point_cloud)

This comment is applicable to the remaining functions, methods and template instantiations of this PR.

SergioRAgostinho · 2017-06-28T11:18:27Z

examples/features/example_good_descriptor.cpp

+    return -1;
+
+  std::vector< float > object_description;
+  std::vector < boost::shared_ptr<pcl::PointCloud<PointT> > > vector_of_projected_views;


Not a required change. All these boost::shared_ptr<pcl::PointCloud<PointT>> invocations can be replaced by the equivalent pcl::PointCloud<PointT>::Ptr saving you some trouble writing the full name.

SergioRAgostinho · 2017-06-28T12:01:50Z

features/include/pcl/features/impl/good.hpp

+{ 
+  input_ = cloud; 
+};
+//////////////////////////////////////////////////////////////////////////////////////////////


Please delete. To be derived from PCLBase

SergioRAgostinho · 2017-06-28T12:10:21Z

features/include/pcl/features/impl/good.hpp

+{
+  threshold_ = threshold;
+}
+//////////////////////////////////////////////////////////////////////////////////////////////


Move both of these to the .h and define them inline and add the const qualifier to the function argument.

SergioRAgostinho · 2017-06-28T12:13:05Z

features/include/pcl/features/impl/good.hpp

+{
+  transformation = transformation_;
+} 
+//////////////////////////////////////////////////////////////////////////////////////////////


Move the four above methods to the .h, declare them inline and declare the methods const

getTransformationMatrix (Eigen::Matrix4f &transformation) const

SergioRAgostinho · 2017-06-28T12:14:47Z

features/include/pcl/features/impl/good.hpp

+  dimensions.x = (maximum_pt.x - minimum_pt.x); 
+  dimensions.y = (maximum_pt.y - minimum_pt.y); 
+  dimensions.z = (maximum_pt.z - minimum_pt.z); 	
+}


why not simply
dimensions = maximum_pt - minimum_pt;

since the type of dimentions variable is XYZ, while the type of maximum_pt and minimum_pt can be XYZRGB or other.

Fair enough. What you need is maximum_pt.getVector3fMap () - minimum_pt.getVector3fMap ().

SergioRAgostinho · 2017-06-28T12:17:28Z

features/include/pcl/features/good.h

+	* \param[out] pc_out the resultant projected point cloud
+        */ 
+      void
+      projectPointCloudToPlane (boost::shared_ptr<pcl::PointCloud<PointInT> > pc_in, boost::shared_ptr<pcl::ModelCoefficients> coefficients, boost::shared_ptr<pcl::PointCloud<PointInT> > pc_out);


From here on out you start forgetting to include & on your function parameters...

That is OK, I used pointers instead of references.

As you know, a shared_ptr is not just a trivial pointer. The difference in size compared to a raw ptr can in most cases be considered negligible, unless you specify its custom allocator through means of a functor object. But you are in fact triggering unnecessarily the reference counting mechanism because none of these methods really has the intent of "taking ownership" of the object. They just use it briefly and then release it.

Basically we're gaining nothing in this scenario, in passing the pointer by value.

This function forwards the point cloud parameter to projection.setInputCloud. So you can just have same qualifiers as in that function.

SeyedHamidreza · 2017-06-28T13:00:07Z

@SergioRAgostinho @taketwo : Thanks for all your comments, I am going to check one by one and will commit a new version soon :D 💯

jspricke · 2017-06-28T15:46:51Z

@SeyedHamidreza no need to put done under each comment, just push a commit with the change and Github will detect it.

…o derive GOODEstimation from pcl::Feature, since I got confused.

taketwo · 2017-06-29T15:02:21Z

So your proposed code looks like this:

template <typename PointInT, int number_of_bins >
class PCL_EXPORTS GOODEstimation : public Feature<PointInT, PointOutT>

First problem is that PointOutT is not defined. Am I right that your feature descriptor is basically a float?

SeyedHamidreza · 2017-06-29T15:08:19Z

I made a mistake to write it here, In the code it was correct,
Actually the output of the GOOD descriptor is a vector of float

taketwo · 2017-06-29T15:15:49Z

Assuming the number of bins is fixed, do you know in advance the length of this descriptor vector?

SeyedHamidreza · 2017-06-29T15:41:41Z

yes, the length of the descriptor will be 3 * (number_of_bins^2)

taketwo · 2017-06-29T15:54:09Z

Great, it means we can use the Histogram<N> point type for output. Class declaration hence will be:

template <typename PointInT, int N>
class PCL_EXPORTS GOODEstimation : public Feature<PointInT, Histogram<3*N*N> >

SeyedHamidreza · 2017-06-29T16:19:15Z

Thank you, I think about it since I see something similar in spin_image but still, the following items are not clear to me:

what about the definition of a method, assume the following one:

template <typename PointInT, int N>
void 
pcl::GOODEstimation<PointInT, pcl::Histogram<3*N*N> >::computeBoundingBoxDimensions (PointCloudIn pc, pcl::PointXYZ &dimensions)
{
...
}

and also about the cpp file:

#ifdef PCL_ONLY_CORE_POINT_TYPES
  PCL_INSTANTIATE_PRODUCT(GOODEstimation, ((pcl::PointXYZ)(pcl::PointXYZI)(pcl::PointXYZRGB)(pcl::PointXYZRGBA))(pcl::Histogram<3*N*N>) )
#else
  PCL_INSTANTIATE_PRODUCT(GOODEstimation, (PCL_XYZ_POINT_TYPES)((pcl::Histogram<75>)))
#endif
#endif    // PCL_NO_PRECOMPILE

taketwo · 2017-06-29T16:38:29Z

Method definitions should read like:

template <typename PointInT, int N>
void 
pcl::GOODEstimation<PointInT, N>::computeBoundingBoxDimensions (PointCloudIn pc, pcl::PointXYZ &dimensions)
{
...
}

Regarding the instantiation in cpp file, do you have any N in mind that will work in most of the cases, a kind of "one-size-fits-all"? If yes then we can instantiate GOODEstimation for this bin size. Otherwise we just skip precompilation.

SeyedHamidreza · 2017-06-29T16:40:43Z

yes, Actually N=5 is a good option that we put it also as a default value for the number of bins parameters,
I am going to test and update you about the result soon

SeyedHamidreza · 2017-12-13T10:41:49Z

@SergioRAgostinho
I have applied your suggestions and comments and also change the std::vector with Eigen::array. 👍

Every time before pushing the code, I checked it out with my original code and some synthetic inputs to be sure everything is in a right way.

Thanks for your comments.
let me know if you have any other comments.
Hamidreza

SergioRAgostinho · 2018-02-14T09:44:55Z

I've pre selected this for the 1.9 release but this is still lacking unit tests so I'm gonna remove this for now. If you want to meet this release please let us know and get those unit tests out.

SeyedHamidreza · 2018-02-14T14:48:36Z

I would like to release the GOOD in PCL 1.9, just let me know what should I do for the unit tests. :)

SergioRAgostinho · 2018-02-14T15:27:03Z

Here are some guidelines for writing good unit tests:

Here's specific documentation for the framework we use to test our stuff:

Here's a comprehensive example I particularly like in PCL:

https://github.com/PointCloudLibrary/pcl/blob/master/test/octree/test_octree_iterator.cpp
There's of course many others all through https://github.com/PointCloudLibrary/pcl/tree/master/test

Keep it simple and tractable and remember whatever process you went through when you originally designed this feature. I assume you had one/some cases to validate things. You need to be able to predict whatever your descriptor is going to be, without actually running the code you just implemented.

SeyedHamidreza · 2018-02-14T17:35:36Z

Thank you.
I did not know that I should create this test file.
I will create it and push it back by the end of this week.

Best regards,

SeyedHamidreza · 2018-02-16T09:23:47Z

I have added the unit test 💯
Please have a look and let me know if I should do anything else.
Wish you a good day.

Best regards,
Hamidreza

HKasaei · 2018-12-23T20:19:59Z

@SergioRAgostinho @taketwo
Good evening,
I wonder should I do anything else?
Thank you.

SergioRAgostinho · 2019-01-16T21:39:19Z

@SeyedHamidreza Not at this moment. Right now we're focused on other more pressing goals, so reviewing this became low priority. My apologies.

stale · 2020-02-21T19:43:42Z

This pull request has been automatically marked as stale because it hasn't had
any activity in the past 60 days. Commenting or adding a new commit to the
pull request will revert this.

Come back whenever you have time. We look forward to your contribution.

stale · 2020-06-20T17:10:56Z

Marking this as stale due to 30 days of inactivity. Commenting or adding a new commit to the pull request will revert this.

Hamidreza added 3 commits June 27, 2017 17:31

This is an implementation of the GOOD descriptor which has been prese…

7a13173

…nted in Pattern Recognition Letters Journal (JULY2016) and IROS2016 (October).

remove temp file

9f53706

correction

e659feb

taketwo added the needs: code review Specify why not closed/merged yet label Jun 28, 2017

taketwo added this to the pcl-1.9.0 milestone Jun 28, 2017

correction in good.cpp

af62d30

Hamidreza added 2 commits June 28, 2017 11:47

remove warnings generated from good.hpp

c36a2fd

remove warnings generated from good.hpp and correct threshold :D

4a87ae4

taketwo reviewed Jun 28, 2017

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SergioRAgostinho requested changes Jun 28, 2017

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SergioRAgostinho added needs: author reply Specify why not closed/merged yet and removed needs: code review Specify why not closed/merged yet labels Jun 28, 2017

all of the comments have been applied, except defining the template t…

5ef505d

…o derive GOODEstimation from pcl::Feature, since I got confused.

SergioRAgostinho removed the needs: author reply Specify why not closed/merged yet label Dec 13, 2017

Hamidreza added 2 commits December 13, 2017 10:30

use Eigen::array instead of std::vector

d12ce7a

using typename Feature<PointInT, Descriptor>::PointCloudOut;

5ab5708

SergioRAgostinho self-assigned this Feb 13, 2018

SergioRAgostinho added the module: features label Feb 14, 2018

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SergioRAgostinho added this to the pcl-1.9.0 milestone Feb 14, 2018

Hamidreza added 7 commits February 15, 2018 11:41

Add GOOD descriptor test (PointCloudLibrary#1907)

6837a05

Add GOOD descriptor test (PointCloudLibrary#1907)

e7a5826

Add GOOD descriptor test (PointCloudLibrary#1907)

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Add GOOD descriptor test (PointCloudLibrary#1907)

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Add GOOD descriptor test (PointCloudLibrary#1907)

1a68855

Add GOOD descriptor test (PointCloudLibrary#1907)

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Add GOOD descriptor test (PointCloudLibrary#1907)

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SergioRAgostinho removed this from the pcl-1.9.0 milestone Aug 26, 2018

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Good descriptor #1907

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Good descriptor #1907

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SeyedHamidreza commented Jun 28, 2017

jspricke commented Jun 28, 2017

taketwo commented Jun 29, 2017

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SeyedHamidreza commented Feb 14, 2018

SergioRAgostinho commented Feb 14, 2018

SeyedHamidreza commented Feb 14, 2018

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HKasaei commented Dec 23, 2018

SergioRAgostinho commented Jan 16, 2019

stale bot commented Feb 21, 2020

stale bot commented Jun 20, 2020

SeyedHamidreza commented Jun 27, 2017 •

edited

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SergioRAgostinho commented Jun 28, 2017 •

edited

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taketwo Jun 28, 2017 •

edited

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SergioRAgostinho Jun 28, 2017 •

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SeyedHamidreza Jun 28, 2017 •

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SeyedHamidreza commented Jun 29, 2017 •

edited by taketwo

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taketwo commented Jun 29, 2017 •

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