1 #ifndef FEATURE_ESTIMATION_H 2 #define FEATURE_ESTIMATION_H 7 #include <pcl/features/normal_3d.h> 8 #include <pcl/keypoints/sift_keypoint.h> 9 #include <pcl/features/fpfh.h> 10 #include <pcl/features/vfh.h> 21 estimateSurfaceNormals (
const PointCloudPtr & input,
float radius)
23 SurfaceNormalsPtr normals;
44 detectKeypoints (
const PointCloudPtr & points,
const SurfaceNormalsPtr & normals,
45 float min_scale,
int nr_octaves,
int nr_scales_per_octave,
float min_contrast)
47 PointCloudPtr keypoints;
64 computeLocalDescriptors (
const PointCloudPtr & points,
const SurfaceNormalsPtr & normals,
65 const PointCloudPtr & keypoints,
float feature_radius)
67 LocalDescriptorsPtr local_descriptors;
68 return (local_descriptors);
80 computeGlobalDescriptor (
const PointCloudPtr & points,
const SurfaceNormalsPtr & normals)
82 GlobalDescriptorsPtr global_descriptor;
83 return (global_descriptor);
100 computeFeatures (
const PointCloudPtr & input)
104 features.
normals = estimateSurfaceNormals (input, 0.05);
105 features.
keypoints = detectKeypoints (input, features.
normals, 0.005, 10, 8, 1.5);
GlobalDescriptorsPtr global_descriptor
SurfaceNormalsPtr normals
LocalDescriptorsPtr local_descriptors