PCL学习：点云特征-VFH示例

代码说明：

对输入数据集中的所有点估计一组VFH特征值；

CMakeLists.txt

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
project(vfh_feature)
find_package(PCL 1.7 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable(vfh_feature vfh_feature.cpp)
target_link_libraries(vfh_feature ${PCL_LIBRARIES})

vfh_feature.cpp

#include<pcl/visualization/pcl_plotter.h>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/filter.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/console/parse.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/filters/normal_space.h>
#include <pcl/common/eigen.h>
#include <pcl/features/normal_3d.h>
#include <pcl/features/vfh.h>
#include <pcl/visualization/h