https://github.com/humanpose1/python_shot
binding of pcl for python shot descriptor
https://github.com/humanpose1/python_shot
cloud descriptors pcl point python shot
Last synced: 3 months ago
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binding of pcl for python shot descriptor
- Host: GitHub
- URL: https://github.com/humanpose1/python_shot
- Owner: humanpose1
- License: mit
- Created: 2021-10-12T11:59:09.000Z (almost 4 years ago)
- Default Branch: main
- Last Pushed: 2021-11-08T10:24:27.000Z (almost 4 years ago)
- Last Synced: 2025-04-30T14:27:43.770Z (5 months ago)
- Topics: cloud, descriptors, pcl, point, python, shot
- Language: C++
- Homepage:
- Size: 25.4 KB
- Stars: 6
- Watchers: 1
- Forks: 0
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# SHOT descriptor for 3D Point Cloud in python
This repo is a binding in python of the [SHOT descriptor](http://vision.disi.unibo.it/research/80-shot) written in C++ with [PCL](https://pointclouds.org/). It uses the library [pybind11](https://github.com/pybind/pybind11) for the binding.
## Installation
First you need to install [PCL](https://pointclouds.org/). You can use the script (thanks [3DSmoothnet](https://github.com/zgojcic/3DSmoothNet) for the script)
```
sh install_pcl.sh
```
then create a conda environnement
```
conda create -n "python_shot"
```
and install numpy and pytest
```
conda install numpy, pytest
```
Then you can install our library to compute shot
```
python setup.py install
```
## How to use SHOT descriptor
The SHOT function takes numpy array as argument.
```python
import handcrafted_descriptor as hd
descr = hd.compute_shot(point_cloud, normals, keypoints, keypoints_normal)
```
`point_cloud` is a numpy array of size `N x 3`
`normals` is a numpy array of size `N x 3`. It is the normals of the point cloud, you need to estimate it beforehand if you do not have access to normals.
`keypoints` is a numpy array of size `M x 3`. It is selected keypoints where you want to compute the descriptors.
`keypoints_normals` is a numpy array of size `M x 3`. the normals of the keypoints.
`descr` is a numpy array of size `M x 352`