lhangggg / Fast-PPF

Fast and Robust Pose Estimation Algorithm for Bin Picking Using Point Pair Feature

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.

Requirements

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