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Module features

threecrate_algorithms

Module features

Expand description

Feature extraction algorithms

Structs§

FpfhConfig: Configuration for FPFH feature extraction
ShotConfig: Configuration for SHOT / USC feature extraction

Enums§

ShotVariant: Which SHOT-family descriptor to compute

Constants§

FPFH_DIM: Total FPFH descriptor dimensionality (3 sub-histograms × 11 bins)
SHOT_DIM: Total SHOT descriptor dimensionality: 32 volumes × 11 bins = 352
USC_DIM: Total USC descriptor dimensionality: 8 × 4 × 4 = 128

Functions§

extract_fpfh_features: Extract FPFH features from a plain point cloud, estimating normals first.
extract_fpfh_features_with_normals: Extract FPFH (Fast Point Feature Histograms) features from a point cloud with pre-computed normals.
extract_shot_features_with_normals: Extract SHOT or USC features from a point cloud with pre-computed normals.