Skip to main content

FPFHEstimation

FPFHEstimation estimates the Fast Point Feature Histogram (FPFH) descriptor for a given point cloud dataset containing points and normals.

TIP

A commonly used type for PointOutT is FPFHSignature33.

More: https://pointclouds.org/documentation/classpcl_1_1_f_p_f_h_estimation.html

Example​

TypeScript
await PCL.init();const featuresSource = new PCL.PointCloud<PCL.FPFHSignature33>(PCL.FPFHSignature33);const featuresTarget = new PCL.PointCloud<PCL.FPFHSignature33>(PCL.FPFHSignature33);const fpfhEst = new PCL.FPFHEstimation();fpfhEst.setSearchMethod(tree);fpfhEst.setRadiusSearch(0.05);fpfhEst.setInputCloud(cloudSource);fpfhEst.setInputNormals(normals);fpfhEst.compute(featuresSource);

Type Definitions​

FPFHEstimation​

TypeScript
class FPFHEstimation<PointInT extends XYZPointTypes, PointNT extends Normal = Normal, PointOutT extends FPFHSignature33 = FPFHSignature33> extends FeatureFromNormals<PointInT, PointNT, PointOutT> {    constructor();    setNrSubdivisions(nrBinsF1: number, nrBinsF2: number, nrBinsF3: number): void;    getNrSubdivisions(): {        nrBinsF1: number;        nrBinsF2: number;        nrBinsF3: number;    };}

FeatureFromNormals​

TypeScript
class FeatureFromNormals<PointInT extends XYZPointTypes, PointNT extends Normal = Normal, PointOutT extends FPFHSignature33 = FPFHSignature33> extends Feature<PointInT, PointOutT> {    constructor(native: NativeAPI);    setInputNormals(normals: PointCloud<PointNT>): void;    getInputNormals(): PointCloud<PointNT> | undefined;}

Feature​

See Feature