convopt4pcd

The functionality of each script should be clear by their name. Most of the scripts should be runnable as-is. Please feel free to contact us if you have any questions.

• ransac, 3ds_ransac: implementation of RANSAC algorithm. ransac uses FPFH features, while 3ds_ransac uses 3DSmoothNet features.
• kabsch: implementation of Kabsch algorithm.
• sdrsac: implementation of CVPR 2019 SDRSAC paper.
• Other scripts are for testing(e.g., show_result), format conversion(e.g., ply2mat, salient2mat, feat2mat), and exploration (e.g., test_rotation, render_salient) purposes.

necessary data files:

data
├─3ds-feature
│  ├─128dim
│  └─32dim
├─bunny-pcd
├─room-pcd
└─temple-pcd