Fast-PPF

FastPPF is an implementation of the Fast and Robust Pose Estimation Algorithm for Bin Picking Using Point Pair Feature from Mingyu Li et al.

The project takes a .STL mesh model as an input, then it will find every matches available in the scene provided as a .pcd file.

Experiment video

This is my Graduate Thesis video which uses this repo for object recognition.

Requirements

CURRENTLY THERE IS A BUG WITH THE PCL IMPLEMENTATION OF PPF CALCULATION, PLEASE REFER TO THIS ISSUE TO REBUILD THE PCL LIBRARY TO OBTAIN CORRECT RESULTS.

To build this project you will need:

• Point Cloud Library (PCL 1.7)

• Eigen library 3.0

• cmake 2.8

Compile and run

    mkdir build
    cd build
    cmake ..
    make
    ./FastPPF