PCL学习：提取NARF特征

代码说明：从一个深度图像（range image）中提取NARF特征。

/* \author Bastian Steder */
#include <iostream>
#include <boost/thread/thread.hpp>
#include <pcl/range_image/range_image.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/range_image_visualizer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/features/range_image_border_extractor.h>
#include <pcl/keypoints/narf_keypoint.h>
#include <pcl/features/narf_descriptor.h>
#include <pcl/console/parse.h>

typedef pcl::PointXYZ PointType;
// -----参数-----
// --------------------
float angular_resolution = 0.5f;
float support_size = 0.2f;
pcl::RangeImage::CoordinateFrame coordinate_frame = pcl::RangeImage::CAMERA_FRAME;
bool setUnseenToMaxRange = false;
bool rotation_invariant = true;

// -----帮助-----
void 
printUsage (const char* progName)
{
  std::cout << "\n\nUsage: "&