open3d feature是什么

在做open3d registration_ransac_based_on_feature_matching函数时,有两个参数表示点云的特征,那么这个所谓的特征是什么?

查阅源代码

/// \class Feature
///
/// \brief Class to store featrues for registration.
class Feature {
public:
    /// Resize feature data buffer to `dim x n`.
    ///
    /// \param dim Feature dimension per point.
    /// \param n Number of points.
    void Resize(int dim, int n) {
        data_.resize(dim, n);
        data_.setZero();
    }
    /// Returns feature dimensions per point.
    size_t Dimension() const { return data_.rows(); }
    /// Returns number of points.
    size_t Num() const { return data_.cols(); }

public:
    /// Data buffer storing features.
    Eigen::MatrixXd data_;
};

可以看到这个Feature存储的是Eigen::MatrixXd的动态矩阵,两个维度分别表示每个点的特征维度和点的数量.