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bad news is:

you cannot use opencv's feature2d classes with point clouds AT ALL, they expect a dense 2d textured neighbourhood, not 3d points.

while the pcl library has something for this, you cannot use those features for 2d images

bad news is:

you cannot use opencv's feature2d classes with point clouds AT ALL, they expect a dense 2d textured neighbourhood, neighbourhood image, not 3d points.

while the pcl library has something for this, you cannot use those features for 2d images