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pcl_spin_estimation - pcl_spin_estimation


Syntax is: pcl_spin_estimation input.pcd output.pcd <options>

Estimate spin-image descriptors using pcl::SpinEstimation. For more information, use: pcl_spin_estimation -h

where options are:

-radius X= use a radius of Xm around each point to determine the neighborhood (default: 0.000000)

-width X = resolution (width) of a spin-image (default: 8)

-suppangle X = min cosine of support angle for filtering points by normals (default: 0.500000)

-neigh X = min number of neighbours to compute a spin-image (default: 1)

-radial = toggles radial structure of a spin-image (default: false)

-angular = toggles angular domain of a spin-image (default: false)


pcl_spin_estimation is part of Point Cloud Library (PCL) -

The Point Cloud Library (PCL) is a standalone, large scale, open project for 2D/3D image and point cloud processing.

This manual page was written by Leopold Palomo-Avellaneda <> with the help of help2man tool and some handmade arrangement for the Debian project (and may be used by others).

May 2014 pcl_spin_estimation 1.7.1