Creation of the bin files given path to ply file

[tamireiny]

Hello,

Can you provide source code for creating the FEST features (the bin files) given a point cloud (ply file)?
Seems to me that It can help anyone trying to use FGR.

Thanks a lot,
Tamir

[syncle]

Hi Tamir,

I think you meant to say FPFH feature. The quick answer we can give you is using Open3D or using PCL. Please check it from this link to extract FPFH features from ply file. FYI, fast global registration will be part of Open3D.

[tamireiny]

Hi Jaesik,

Thanks for the quick answer before.

I wrote a python script that creates the FPFH feautre using Open3D, this part seems to go well. I am writing the bin file according to the instructions mentioned, and when using read_features (matlab version) it seems that nothing is returned.

Also, it seems that I need to set several parameters:
voxel_down_sample: factor
estimate_normals: radius, max_nn
compute_fpfh_feature:radius, max_nn

I saw in each of FGR synthetic folders (i.e airwise_no_noise_01_rot_05) the file alignment.config.
I was not able to match between these file values to the parameters I mentioned above,

Can you please take a look at the python script link?
Many thanks,
Tamir

[syncle]

I think the link for the python script is broken.

Here is a guideline for parameter tuning. From #7,

We recommend 1:2:5 for radius of downsampling voxel size, normal estimation, and feature estimation.

When we generated synthetic dataset, we have normalized the scale of the geometry, so it is not absolute scale for radius. Therefore, it is not metric scale. What we did is we normalize the scale of the geometries, and use the relative scale that meets 1:2:5 rule.

[syncle]

and please check out trouble shooting.

[tamireiny]

Here is a code that creates the FPFH features given ply file.
https://www.dropbox.com/s/vb9729csxin87br/create_fpfh_from_ply.py?dl=0
You are welcome to publish it if you find it useful