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Currently I try to compute PFH descriptors for ISS keypoints. I perform the following steps:
(1) Detect keypoints with pcl::ISSKeypoint3D
(2) Estimate normals of the new keypoint cloud from (1) with pcl::NormalEstimation
(3) Estimate PFH for the keypoints and the normals from (2) with pcl::PFHEstimation
To my understanding, the PFH estimation takes k neighbors into account and therefore has a complexity of O(n*k^2), where n denotes the number of keypoints. However, I only pass a cloud consisting of the keypoints itself to the estimator in (3).
So my question is: How can i retrieve the k neighbors for each ISS keypoint?