PCL-SI描述符

PCL-描述子-SI

SI描述子建立

1.原始点云

变量声明，为了对场景和模型做匹配，设计了1，2两个变量。

	pcl::PointCloud<PointType>				cloud1, cloud2;
	pcl::PointCloud<NormalType>				cloud1_normals, cloud2_normals;
	pcl::PointCloud<PointType>				cloud1_keypoints, cloud2_keypoints;
	pcl::PointCloud<pcl::Histogram<153> >	cloud1_si, cloud2_si;

2.提取关键点

体素和均匀采样速度较快

	void compute_filters_voxel_grid(float leaf_size)
	{
   
		pcl::VoxelGrid<PointType> voxel_grid;
		voxel_grid.setLeafSize(leaf_size, leaf_size, leaf_size);

		voxel_grid.setInputCloud(cloud1.makeShared());
		voxel_grid.