3D Object Recognition: Pallet

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3D Object Recognition: Pallet

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Im trying to use the correspondace grouping to find the front and lateral of a pallet in a PCD file. Both PCD files, model and scene, are XYZI. Looks like correspondance grouping doesnt work with XYZI files. Tried converting to XYZ format (model and scene) and still not working. Is there something i miss?

By the way, since i want to find front and lateral, my models are not real 3D. Can be this an issue?

I attached my model and scene. The code is taken from the tutorial of the PCL documentation http://pointclouds.org/documentation/tutorials/correspondence_grouping.php#correspondence-grouping

J. Ramón Gómez.