Computing the Cord and Angle Histogram

As a first step during the development of a prototype for computing descriptors for 3D shapes, I implemented the Cord and Angle Histogram (CAH) descriptor. Below are the results of the computation for the dog model I often use (m87 from the PSB). Additionally, you can see the corresponding VRML model showing the estimated cords.

Estimated cords colored according to length and angles with reference planes.

Computed cord and angle histograms