Any cpp example for FastGlobalRegistration and FRFH?

[1939938853]

Hello

On the line 55 of the file
https://github.com/neka-nat/cupoch/blob/master/src/cupoch/registration/feature.h
you have an integer 33.

In this case if I calculate the feature, maybe I need to do the following?

`

std::tuple<std::shared_ptrcupoch::geometry::PointCloud, std::shared_ptr<cupoch::registration::Feature<33> > >
cphDownsamplingNormalFPFH(std::shared_ptrcupoch::geometry::PointCloud cloud_ptr, float voxel_size)
{
auto cloud_down = cloud_ptr->VoxelDownSample(voxel_size);

auto radius_normal = voxel_size * 2.0f;
int MAX_NN = 220;
cloud_down->EstimateNormals(
    cupoch::geometry::KDTreeSearchParamRadius(radius_normal, MAX_NN));

auto radius_feature = voxel_size * 5;
int MAX_NN_freature = 2 * MAX_NN;
auto cloud_fpfh = cupoch::registration::ComputeFPFHFeature(
    *cloud_down, cupoch::geometry::KDTreeSearchParamRadius(radius_feature, MAX_NN_freature));

return std::make_tuple(cloud_down, cloud_fpfh);

}

`

Am I right?

Thank you!

[neka-nat]

Hi @1939938853 ,

Thank you for trying with cpp.
I think your code is fine.
"33" shows the dimensions of the FPFH feature.