Click here for the source code of the CoSPAIR descriptor proposed in our following publication:
B.Logoglu, S.Kalkan, A.Temizel, “CoSPAIR: Colored Histograms of Spatial Concentric Surflet-Pairs for 3D Object Recognition”, Robotics and Autonomous Systems, vol. 75, part B, pp. 558-570, doi: 10.1016/j.robot.2015.09.027, Jan. 2016.