FPFH特征点云配准

1.Robust pose estimation of rigid objects

点云类型为PointNormal

#include <Eigen/Core>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/common/time.h>
#include <pcl/console/print.h>
#include <pcl/features/normal_3d.h>
#include <pcl/features/fpfh.h>
#include <pcl/filters/filter.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/io/pcd_io.h>
#include <pcl/registration/icp.h>
#include <pcl/registration/sample_consensus_prerejective.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/visualization/pcl_visualizer.h>

// Types
typedef pcl::PointNormal PointNT;
typedef pcl::PointCloud<PointNT> PointCloudT;
typedef pcl::FPFHSignature33 FeatureT;// FPFH特殊描述子
typedef pcl::FPFHEstimation<PointNT, PointNT, FeatureT> FeatureEstimationT;//FPFH特征估计类
typedef pcl::PointCloud<FeatureT> FeatureCloudT;
typedef pcl::visualiz