├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── config └── config.yaml ├── data ├── redwood_scan │ ├── apartment │ │ ├── mesh_213.pcd │ │ └── mesh_214.pcd │ └── loft │ │ ├── mesh_240.pcd │ │ └── mesh_242.pcd └── redwood_synthetic │ ├── livingroom1 │ ├── cloud_bin_00.pcd │ └── cloud_bin_01.pcd │ └── livingroom2 │ ├── cloud_bin_04.pcd │ └── cloud_bin_05.pcd ├── include ├── ced_3d.h ├── ced_6d.h ├── impl │ ├── ced_3d.hpp │ ├── ced_6d.hpp │ ├── perception.hpp │ └── random_keypoint.hpp ├── loop_timer.h ├── perception.h ├── random_keypoint.h ├── remove_nan.h └── sift_xyzrgbn.h ├── results └── qualitative.png ├── scripts └── view_keypoint.py └── src ├── test_keypoint.cpp └── test_registration.cpp /.gitignore: -------------------------------------------------------------------------------- 1 | *~ 2 | *.pyc 3 | *.asv 4 | .vscode 5 | .DS_Store 6 | build/ 7 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/README.md -------------------------------------------------------------------------------- /config/config.yaml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/config/config.yaml -------------------------------------------------------------------------------- /data/redwood_scan/apartment/mesh_213.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/data/redwood_scan/apartment/mesh_213.pcd -------------------------------------------------------------------------------- /data/redwood_scan/apartment/mesh_214.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/data/redwood_scan/apartment/mesh_214.pcd -------------------------------------------------------------------------------- /data/redwood_scan/loft/mesh_240.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/data/redwood_scan/loft/mesh_240.pcd -------------------------------------------------------------------------------- /data/redwood_scan/loft/mesh_242.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/data/redwood_scan/loft/mesh_242.pcd -------------------------------------------------------------------------------- /data/redwood_synthetic/livingroom1/cloud_bin_00.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/data/redwood_synthetic/livingroom1/cloud_bin_00.pcd -------------------------------------------------------------------------------- /data/redwood_synthetic/livingroom1/cloud_bin_01.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/data/redwood_synthetic/livingroom1/cloud_bin_01.pcd -------------------------------------------------------------------------------- /data/redwood_synthetic/livingroom2/cloud_bin_04.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/data/redwood_synthetic/livingroom2/cloud_bin_04.pcd -------------------------------------------------------------------------------- /data/redwood_synthetic/livingroom2/cloud_bin_05.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/data/redwood_synthetic/livingroom2/cloud_bin_05.pcd -------------------------------------------------------------------------------- /include/ced_3d.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/include/ced_3d.h -------------------------------------------------------------------------------- /include/ced_6d.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/include/ced_6d.h -------------------------------------------------------------------------------- /include/impl/ced_3d.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/include/impl/ced_3d.hpp -------------------------------------------------------------------------------- /include/impl/ced_6d.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/include/impl/ced_6d.hpp -------------------------------------------------------------------------------- /include/impl/perception.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/include/impl/perception.hpp -------------------------------------------------------------------------------- /include/impl/random_keypoint.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/include/impl/random_keypoint.hpp -------------------------------------------------------------------------------- /include/loop_timer.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/include/loop_timer.h -------------------------------------------------------------------------------- /include/perception.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/include/perception.h -------------------------------------------------------------------------------- /include/random_keypoint.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/include/random_keypoint.h -------------------------------------------------------------------------------- /include/remove_nan.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/include/remove_nan.h -------------------------------------------------------------------------------- /include/sift_xyzrgbn.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/include/sift_xyzrgbn.h -------------------------------------------------------------------------------- /results/qualitative.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/results/qualitative.png -------------------------------------------------------------------------------- /scripts/view_keypoint.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/scripts/view_keypoint.py -------------------------------------------------------------------------------- /src/test_keypoint.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/src/test_keypoint.cpp -------------------------------------------------------------------------------- /src/test_registration.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/UCR-Robotics/CED_Detector/HEAD/src/test_registration.cpp --------------------------------------------------------------------------------