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Hi Martin, if I understand correctly by "combine several VFH signatures" you actually mean that you are looking for a way to classify objects using VFH descriptor, right? There is a neat and simple tutorial demonstrating exactly this: http://www.pointclouds.org/documentation/tutorials/vfh_recognition.php#vfh-recognition.

pcd_viewer from PCL knows histograms and can display them.

D.

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