I use VFH descriptor from pcl...

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C++

Hi,

I use VFH descriptor from pcl and I have a problem, it returns just one histogram but I have a point cloud which contains 397 points, so for me, I must a 397 histograms...

If you have a solution or idea please, tell me

typedef pcl::VFHEstimation<pcl::PointXYZ, pcl::Normal, pcl::VFHSignature308> VFHEstimationType;
VFHEstimationType vfhEstimation;

// Provide the original point cloud (without normals)
vfhEstimation.setInputCloud(cloud1);
// Provide the point cloud with normals
vfhEstimation.setInputNormals(cloudWithNormals1);
// Use the same KdTree from the normal estimation
vfhEstimation.setSearchMethod(tree1);

vfhEstimation.setRadiusSearch (0.1); // With this, error: "Both radius (.2) and K (1) defined! Set one of them to zero first and then re-run compute()"
// Actually compute the VFH features
pcl::PointCloud<pcl::VFHSignature308>::Ptr vfhFeatures(new pcl::PointCloud<pcl::VFHSignature308>);
vfhEstimation.compute(*vfhFeatures);

What I have tried:

I use fpfh in the same way and it works, I don't know why vfh gives me just one result