PPF gets other poses

[Eray-L]

I am a PCL beginner.When using PPF, I found that it can only output a single final transformation.How can I get other poses?

[mvieth]

@Eray-L Do you mean when using PPFRegistration, or in which context? Can you describe in more detail what you are trying to do and why you need more than one transformation/pose?

[Eray-L]

Yeah, what I meant is that when using PPFRegistration in PCL, I can get a final transformation，use getFinalTransformation().
However, in Drost's paper, the clustering process for poses can generate others results, not only one.as shown in the figure,

In the poses clustering, there are three winning clusters, but only one is outputted. How can I get the other clusters with lower votes counts? Or am I misunderstanding something?

[mvieth]

@Eray-L Currently, there is no way to get the other clusters. I created a pull request to make that possible, and to add other improvements to PPFRegistration. Feel free to take a look.