Only released in EOL distros:
Package Summary
VOSCH feature extraction from RGB point cloud.
- Author: Asako Kanezaki
- License: BSD
- Source: git http://code.in.tum.de/git/mapping.git (branch: None)
Package Summary
VOSCH feature extraction from RGB point cloud.
- Author: Asako Kanezaki
- License: BSD
- Source: git http://code.in.tum.de/git/mapping.git (branch: None)
Contents
Description
Voxelized Shape and Color Histograms (VOSCH) is an efficient rotation-invariant descriptor extracted from color voxel data. It is obtained as a 137-dimensional histogram, where each bin is represented by local correlations of surface normal types or RGB color values.
Thus the descriptor enables object classification and identification considering both shape and color characteristics. It can be used with any type of classifier, e.g., Support Vector Machine (SVM) or Linear Subspace Method (LSM).
Install
git clone git://github.com/kanezaki/isi-ros-pkg.git git clone http://code.in.tum.de/git/mapping.git
Usage
$ rosrun vosch example_vosch `rospack find vosch`/data/sample_cone_green.pcd
This executable reads color point cloud "sample_cone_green.pcd" and writes its VOSCH descriptor into "vosch.pcd" in the current directory.
If you have pcl_visualization, you can see the histogram by:
$ rosrun pcl_visualization pcd_viewer vosch.pcd
The Code
The following code (test/example_vosch.cpp) snippet will estimate a set of VOSCH features for all the points in the input dataset.
Could not fetch external code from 'http://code.in.tum.de/indefero/index.php//p/mapping/source/file/master/vosch/test/example_vosch.cpp':
If you use the following two lines instead of the corresponding lines in above example code, you can get a set of VOSCH feature vectors extracted from the subdivisions of 10x10x10 voxel grid with 5x5x5 overlapping respectively:
std::vector< std::vector<float> > vosch; extractVOSCH( grid, cloud, cloud_downsampled, vosch, 127, 127, 127, voxel_size, 10, 5, 5, 5 );