PFH with ISS keypoints

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PFH with ISS keypoints

Syntax134
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Hello,

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?
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Re: PFH with ISS keypoints

nenadpol
Hi,

" However, I only pass a cloud consisting of the keypoints itself to the estimator in (3). "

Not sure, but I think you are wrong. You are passing keypoints as InputCloud but you should also
pass original cloud as SearchSurface.

Take a look at  pcl::Feature member function:

void setSearchSurface (const PointCloudInConstPtr &cloud)
  Provide a pointer to a dataset to add additional information to estimate the features for every point in the input dataset. More...

cheers
Nenad