Central Voting PPF

Reproduced code for:

Efficient Center Voting for Object Detection and 6D Pose Estimation in 3D Point Cloud

💔 No official repo for this great job.

Dependence

    mkdir build && cd build && cmake .. && make

    ./central_voting /path_to_src_point_cloud /path_to_tgt_point_cloud

Most Important, I didn’t reach the same result as the paper mentioned, So maybe the code miss some implementation details and met this bad result. 😞
This is not a complete project and I just finished the key code and check the correctness.
I did not write the Config file , so some params need to be adjusted from the code and don't forget recompile.

Name		Name	Last commit message	Last commit date
Latest commit History 109 Commits
.idea		.idea
Release		Release
model		model
output		output
.clang-format		.clang-format
.gitignore		.gitignore
CMakeLists.txt		CMakeLists.txt
CentralVoting.cpp		CentralVoting.cpp
CentralVoting.h		CentralVoting.h
HashMap.cpp		HashMap.cpp
HashMap.h		HashMap.h
LICENSE		LICENSE
PPFEstimation.cpp		PPFEstimation.cpp
PPFEstimation.h		PPFEstimation.h
PPFRegistration.cpp		PPFRegistration.cpp
PPFRegistration.h		PPFRegistration.h
README.md		README.md
SmartDownSample.cpp		SmartDownSample.cpp
SmartDownSample.h		SmartDownSample.h
add_gauss_noise.cpp		add_gauss_noise.cpp
add_gauss_noise.h		add_gauss_noise.h
common.h		common.h
main.cpp		main.cpp
scan.py		scan.py
test.py		test.py