Visualization of local reference frames (LRF)

Example output

Requirements

Install PCL (for step 1), Open3D (for step 2), and NumPy (for step 2)
Change the relative path of your input file in visualize_lrf.py and flare/flare_estimation.cpp

1. Compute local reference frames using FLARE

cd flare
mkdir build && cd build
cmake .. && make
./flare_estimation
cd ../..

2. Visualize LRF

python visualize_lrf.py

References

A. Petrelli, L. Di Stefano, "A repeatable and efficient canonical reference for surface matching", 3DimPVT, 2012. [PDF]