点云特征点提取

1.Harris关键点提取并可视化

#include <iostream>
#include <pcl/console/parse.h>
#include <pcl/console/print.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/keypoints/harris_3d.h> // Harris3D关键点检测
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>
#include<pcl/filters/filter.h>
int
main(int argc, char** argv)
{
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    if (pcl::io::loadPCDFile<pcl::PointXYZ>("source.pcd", *cloud) == -1) // load the file
    {
        pcl::console::print_error("Couldn't read file %s!\n");
        return (-1);