pub fn fpfh_descriptors(
cloud: &PointCloud,
feature_radius: f32,
) -> SpatialResult<Vec<FpfhDescriptor>>Expand description
Computes an FPFH descriptor for every point in cloud.
The cloud must carry normals. feature_radius is the neighborhood radius
used to build each descriptor (≈5× the point spacing is a good start). This
is the reusable building block behind FpfhRansacRegistration; compute it
once on a keypoint cloud to drive descriptor-based matching cheaply.