PCL : computing FPFH at given keypoints
Suppose i have a bunch of keypoints detected by 2D SIFT or SURF and i want to calculate FPFH descriptors at those keypoints. How can i do this?
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Suppose i have a bunch of keypoints detected by 2D SIFT or SURF and i want to calculate FPFH descriptors at those keypoints. How can i do this?
There is a PCL tutorial to show how to do it
You are right, I did not read the tutotial and only assumed it would work like the SHOT descriptor. Try to ask this question on pcl-users.org
There is a method on the fpfh estimation object to specify the indices of the source cloud points that will be used as keypoints:
PointIndicesPtr keypoints (new PointIndices);
// Compute NARF keypoints here ...
pcl::FPFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::FPFHSignature33> fpfh;
fpfh.setInputCloud(sourceCloud);
fpfh.setInputNormals(normals);
fpfh.setSearchMethod(kdtree);
fpfh.setRadiusSearch(0.05);
fpfh.setIndices(keypoints);
fpfh.compute(*descriptors);
//...
This question is quite old, but I figured this might still be useful
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Asked: 2013-03-04 09:47:16 -0600
Seen: 1,980 times
Last updated: Mar 04 '13