Feature description and extraction of PCL points

1, Narf_feature_extraction

Cpp

[HTML]  View plain  copy  /* \author bastian steder */   #include  < iostream>   #include  <boost/thread/thread.hpp>   #include  <pcl/range_ image/range_image.h>   #include  <pcl/io/pcd_io.h>   #include  <pcl/ visualization/range_image_visualizer.h>   #include  <pcl/visualization/pcl_visualizer.h>    #include  <pcl/features/range_image_border_extractor.h>   #include &NBSP;&LT;PCL /keypoints/narf_keypoint.h>   #include  <pcl/features/narf_descriptor.h>   # include <pcl/console/parse.h>      #include   "VtkImageViewer.h"    # include  "vtkInteractionImageModule.h"    #include   "vtkInteractionWidgetsModule.h"     TYPEDEF&NBSP;PCL::P ointxyz pointtype;  // -----Parameters-----  // ---------- ----------   float angular_resolution = 0.5f;   float support_size =  0.2f;   Pcl::rangeimage::coordinateframe coordinate_frame = pcl::rangeimage:: camera_frame;   bool setunseentomaxrange = false;   Bool rotation_ invariant = true;     // -----Help-----   void    printusage  (const char* progname)    {     std::cout <<   "\n\nusage: " <<progName<< " [options] <scene.pcd>\n\n"                 <<  "options:\n"                 <<  "----------------------------- --------------\ n "               <<   "-r <float>   angular resolution in degrees  (default  "<< angular_resolution<< "\ n"                 <<  "-c <int>     coordinate frame  (default   "<<  (int) coordinate_frame<<") \ n "                <<  "-m            treat all unseen points to max range\n "