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SURE 3D Features
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Version: 0.3.1, March 2015

This directory contains the source code for the SURE 3D Features.
Please note that the code API is _NOT_ stable and might change in future versions.  

If you use the code, please cite:
	SURE: Surface Entropy for Distinctive 3D Features
	Torsten Fiolka, Jörg Stückler, Dominik A. Klein, Dirk Schulz, Sven Behnke
	Spatial Cognition 2012	

bibtex:
@incollection {
   author = {Fiolka, Torsten and Stückler, Jörg and Klein, Dominik and Schulz, Dirk and Behnke, Sven},
   title = {SURE: Surface Entropy for Distinctive 3D Features},
   booktitle = {Spatial Cognition VIII},
   series = {Lecture Notes in Computer Science},
   publisher = {Springer Berlin / Heidelberg},
   pages = {74-93},
   year = {2012}
}

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INSTALLATION
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The project was developed under Ubuntu Linux 12.04 and not tested in other operating systems.

Dependencies:
	-- CMAKE 2.6 or later
	-- PCL 1.5.1 (www.pointclouds.org) or later
	-- FastEMD from Ofir Pele and Michael Werman (NOT INCLUDED!)
	   Tested with versions 2.1 to 3.0 from http://www.seas.upenn.edu/~ofirpele/FastEMD/code/
	   You need to place the FastEMD directory somewhere the compiler can find it, default is
	   include/FastEMD. You can change the include-path in include/sure/histogram_emd.h, if necessary.
	
To compile the code, switch to the directory and type:
cmake .
make

To use it, include the needed header files into your project and make sure that the linker
can find the library.

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USAGE
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To uses SURE 3D Features you need to include sure/sure.h in your own code.
Create an object of SUREFeatureExtractor, insert a pointcloud with pcl::PointXYZRGB as point type and start the calculation via calculateSURE().

To change parameters, edit the SURE::Configuration object named config in SUREFeatureExtractor.

A little example of the usage combined with some visualization is included in src/example.cpp
After compiling, you should be able to start the program bin/sure-example.    

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CONTACT
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If you have questions, comments or found bugs feel free to contact me under
torstenfiolka@googlemail.com

You may also use the bug tracker on the repository site:
https://github.com/torstenfiolka/sure3d