PCL

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Examples to be added to PCL:

Misc:

  • Nearest neighbors
  • Region growing

Features:

  • RIFT feature
  • CVFH feature
  • PPF feature
  • Integral image usage
  • Spin image
  • Radius based surface descriptor

Keypoints:

  • Harris Keypoint
  • SIFT Keypoint
  • Smoothed surface Keypoint

Registration:

  • How to use GICP
  • Registration pipeline with code snippets for finding Keypoints, Features, Correspondences and so on (Can be a part of Applications)

Applications:

  • Object recognition pipeline from scene cloud to object cloud
  • Localization based on registration using RGB-D map
  • Object tracking
  • Filtering the cloud based on color