# point_pair_feature_pcl
point_pair_feature_pcl is a parallel implementation of the Point Pair Feature matching
algorithm from [Drost, B.](http://far.in.tum.de/pub/drost2010CVPR/drost2010CVPR.pdf).
it is copied and modified version of https://github.com/alfonsoros88/PPFMap.git
### Requirements
To build this project you will need:
+ Point Cloud Library (PCL 1.8) : built with CUDA support.
+ CUDA >10
+ cmake 2.8
### Compile and run
Before compiling the project, check first the cuda capability of your device.
You can set the specific capability on the `CMakeLists.txt` file, in the
**CUDA_NVCC_FLAGS**.
```bash
mkdir build
cd build
cmake ..
make
./demo
```
point_pair_feature_pcl
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2021-03-11
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point_pair_feature_pcl-main.zip （95个子文件） 
point_pair_feature_pcl-main cmake 
CudaComputeTargetFlags.cmake 2KB include PPFMap CudaPPFMatch.h 8KB PPFEstimationKernel.h 4KB DiscretizedPPF.h 3KB PPFMatch.h 5KB cuda_map.h 3KB utils.h 10KB ppf_cuda_calls.h 486B PPFMap.h 2KB Pose.h 3KB murmur.h 2KB impl CudaPPFMatch.hpp 7KB PPFMatch.hpp 7KB PPFMap.hpp 1KB clouds milk_cartoon_all_small_clorox.pcd 2.43MB model_chair.pcd 57KB milk.pcd 91KB model_chair2.pcd 509KB scene_chair.pcd 286KB src my_ppf.cpp 10KB ppf_cuda_calls.cu 536B Map.cu 12KB demo.cpp 8KB doc images 
demo.png 74KB Doxyfile.in 74KB mainpage.dox 933B doxygen.css 15KB
CMakeLists.txt 4KB README.md 693B build libppfmap.so 11.24MB CMakeCache.txt 63KB CMakeDoxygenDefaults.cmake 19KB Doxyfile 74KB my_ppf 4.8MB cmake_install.cmake 3KB CMakeDoxyfile.in 14KB Makefile 9KB demo 3.45MB CMakeFiles cmake.check_cache 85B progress.marks 2B doc.dir progress.make 22B cmake_clean.cmake 188B build.make 3KB DependInfo.cmake 316B Makefile2 7KB ppfmap.dir progress.make 85B depend.make 121KB src my_ppf.cpp.o 6.01MB cmake_clean.cmake 408B CXX.includecache 243KB flags.make 1KB build.make 8KB link.txt 339B DependInfo.cmake 2KB depend.internal 73KB cuda_compile_1.dir src cuda_compile_1_generated_ppf_cuda_calls.cu.o 108KB cuda_compile_1_generated_ppf_cuda_calls.cu.o.cmake.pre-gen 13KB cuda_compile_1_generated_Map.cu.o.depend 59KB cuda_compile_1_generated_Map.cu.o 5.6MB cuda_compile_1_generated_Map.cu.o.cmake.pre-gen 13KB cuda_compile_1_generated_ppf_cuda_calls.cu.o.cmake 13KB cuda_compile_1_generated_Map.cu.o.cmake 13KB cuda_compile_1_generated_ppf_cuda_calls.cu.o.depend 59KB CMakeError.log 3KB CMakeRuleHashes.txt 291B Makefile.cmake 19KB my_ppf.dir progress.make 43B depend.make 121KB src my_ppf.cpp.o 6.01MB cmake_clean.cmake 244B CXX.includecache 243KB flags.make 2KB build.make 20KB link.txt 11KB DependInfo.cmake 2KB depend.internal 73KB TargetDirectories.txt 888B CMakeOutput.log 25KB 3.18.0-rc4 CMakeSystem.cmake 406B CompilerIdCXX a.out 8KB CMakeCXXCompilerId.cpp 20KB CMakeCXXCompiler.cmake 5KB CMakeDetermineCompilerABI_CXX.bin 8KB demo.dir progress.make 43B depend.make 111KB src demo.cpp.o 4.33MB cmake_clean.cmake 234B CXX.includecache 234KB flags.make 2KB build.make 20KB link.txt 10KB DependInfo.cmake 2KB depend.internal 70KB CheckLibraryExists CheckFunctionExists.cxx 433B CMakeDirectoryInformation.cmake 694B
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