the full neighborhood histogram is provided， usable as a point signature Note : orientation is neglected! : we neglect points that are outside the specified interval! Definition at line of file rsd.hpp. ， above which everything can be considered planar [in] radii the output point of a type that should have r_min and r_max fields [in] compute_histogram if not false。
#include pcl/features/rsd.h Estimate the Radius-based Surface Descriptor (RSD) for a given point based on its spatial neighborhood of 3D points with normals. Parameters [in] normals the dataset containing the surface normals at each point in the dataset [in] indices the neighborhood point indices in the dataset (first point is used as the reference) [in] sqr_dists the squared distances from the first to all points in the neighborhood [in] max_dist the upper bound for the considered distance interval [in] nr_subdiv the number of subdivisions for the considered distance interval [in] plane_radius maximum radius，。