response are all 0 for interest points detected by pcl::SIFTKeypoint

[XuyangBai]

Hi, Thanks for your sharing. I am using pcl to detect the keypoint in 3D point cloud, but I found the returned keypoint all have zero in there .response field. Is is due to my pcd file or something is wrong with PCL? I use the following code to detect the keypoints.

void
detect_keypoints(pcl::PointCloud<pcl::PointXYZRGB>::Ptr &points,
                 float min_scale, int nr_octaves, int nr_scales_per_octave, float min_contrast,
                 pcl::PointCloud<pcl::PointWithScale>::Ptr &keypoints_out) {
    pcl::SIFTKeypoint<pcl::PointXYZRGB, pcl::PointWithScale> sift_detect;

    // Use a FLANN-based KdTree to perform neighborhood searches
    sift_detect.setSearchMethod(pcl::search::KdTree<pcl::PointXYZRGB>::Ptr(new pcl::search::KdTree<pcl::PointXYZRGB>));

    // Set the detection parameters
    sift_detect.setScales(min_scale, nr_octaves, nr_scales_per_octave);
    sift_detect.setMinimumContrast(min_contrast);

    // Set the input
    sift_detect.setInputCloud(points);

    // Detect the keypoints and store them in "keypoints_out"
    sift_detect.compute(*keypoints_out);
}

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