点云匹配点对中根据距离以及夹角筛选，获取有效点对匹配的算法

#include <iostream>
#include <pcl/point_types.h> 
#include <pcl/io/pcd_io.h> 
#include <pcl/features/normal_3d_omp.h>
#include <pcl/registration/correspondence_estimation_normal_shooting.h>
#include <pcl/registration/correspondence_rejection_surface_normal.h>
#include <pcl/registration/transformation_estimation_lm.h>
#include <boost/thread/thread.hpp>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/registration/correspondence_rejection_sample_consensus.h>
#include <pcl/common/impl/io.hpp>
#include <pcl/point_cloud.h>
using namespace std;

void compute_normal(pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud, pcl::PointCloud<pcl::PointNormal>::Ptr& normals)
{
	pcl::NormalEstimationOMP<pcl::PointXYZ, pcl::PointNormal> n;//OMP加速
	//建立kdtree来进行近邻点集搜索
	pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>());
	n.setNumberOfThreads(6);//设