Function lvr2::computeFPFHFeatures

• Defined in File FPFH.hpp

Function Documentation

FPFHFeaturePtr lvr2::computeFPFHFeatures(const PointBufferPtr pointCloud, size_t k)

Computes FPFH features for the given point cloud. Requires point normals in the passed PointBufferPtr.

Implementation based on the feature computation in Open3D: http://www.open3d.org/docs/release/cpp_api/_feature_8cpp.html

Parameters:

• pointCloud – A point cloud containing normals

• k – Number of nearest neighbors

Returns:

FPFHFeaturePtr An Eigen matrix containing the computed features (33 x numPoints)