Displaying 1 to 3 from 3 results

3dmatch-toolbox - 3DMatch - a 3D ConvNet-based local geometric descriptor for aligning 3D meshes and point clouds

  •    C++

Matching local geometric features on real-world depth images is a challenging task due to the noisy, low-resolution, and incomplete nature of 3D scan data. These difficulties limit the performance of current state-of-art methods, which are typically based on histograms over geometric properties. In this paper, we present 3DMatch, a data-driven model that learns a local volumetric patch descriptor for establishing correspondences between partial 3D data. To amass training data for our model, we propose an unsupervised feature learning method that leverages the millions of correspondence labels found in existing RGB-D reconstructions. Experiments show that our descriptor is not only able to match local geometry in new scenes for reconstruction, but also generalize to different tasks and spatial scales (e.g. instance-level object model alignment for the Amazon Picking Challenge, and mesh surface correspondence). Results show that 3DMatch consistently outperforms other state-of-the-art approaches by a significant margin. This code is released under the Simplified BSD License (refer to the LICENSE file for details).

pyntcloud - pyntcloud is a Python library for working with 3D point clouds.

  •    Python

pyntcloud is a Python 3 library for working with 3D point clouds leveraging the power of the Python scientific stack. You can access most of pyntcloud's functionality from its core class: PyntCloud.

tsdf-fusion - Fuse multiple depth frames into a TSDF voxel volume.

  •    Cuda

CUDA/C++ code to fuse multiple registered depth maps into a projective truncated signed distance function (TSDF) voxel volume, which can then be used to create high quality 3D surface meshes and point clouds. Tested on Ubuntu 14.04 and 16.04. Looking for an older version? See here.