5 #include <pcl/common/io.h>
6 #include <pcl/features/normal_3d.h>
7 #include <pcl/keypoints/sift_keypoint.h>
8 #include <pcl/features/fpfh.h>
9 #include <pcl/features/vfh.h>
20 estimateSurfaceNormals (
const PointCloudPtr & input,
float radius)
22 SurfaceNormalsPtr normals;
43 detectKeypoints (
const PointCloudPtr & points,
const SurfaceNormalsPtr & normals,
44 float min_scale,
int nr_octaves,
int nr_scales_per_octave,
float min_contrast)
46 PointCloudPtr keypoints;
63 computeLocalDescriptors (
const PointCloudPtr & points,
const SurfaceNormalsPtr & normals,
64 const PointCloudPtr & keypoints,
float feature_radius)
66 LocalDescriptorsPtr local_descriptors;
67 return (local_descriptors);
79 computeGlobalDescriptor (
const PointCloudPtr & points,
const SurfaceNormalsPtr & normals)
81 GlobalDescriptorsPtr global_descriptor;
82 return (global_descriptor);
99 computeFeatures (
const PointCloudPtr & input)
103 features.
normals = estimateSurfaceNormals (input, 0.05);
104 features.
keypoints = detectKeypoints (input, features.
normals, 0.005, 10, 8, 1.5);
LocalDescriptorsPtr local_descriptors
GlobalDescriptorsPtr global_descriptor
SurfaceNormalsPtr normals