PCL 3维点云的模板匹配

Doc 来自PCL官方文档 http://www.pointclouds.org/documentation/tutorials/template_alignment.php#template-alignment

#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
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#include 

class FeatureCloud
{
  public:
    // A bit of shorthand
    typedef pcl::PointCloud PointCloud;
    typedef pcl::PointCloud SurfaceNormals;
    typedef pcl::PointCloud LocalFeatures;
    typedef pcl::search::KdTree SearchMethod;

    FeatureCloud () :
      search_method_xyz_ (new SearchMethod),
      normal_radius_ (0.02f),
      feature_radius_ (0.02f)
    {}

    ~FeatureCloud () {}

    // Process the given cloud
    void
    setInputCloud (PointCloud::Ptr xyz)
    {
      xyz_ = xyz;
      processInput ();
    }

    // Load and process the cloud in the given PCD file
    void
    loadInputCloud (const std::string &pcd_file)
    {
      xyz_ = PointCloud::Ptr (new PointCloud);
      pcl::io::loadPCDFile (pcd_file, *xyz_);
      processInput ();
    }

    // Get a pointer to the cloud 3D points
    PointCloud::Ptr
    getPointCloud () const
    {
      return (xyz_);
    }

    // Get a pointer to the cloud of 3D surface normals
    SurfaceNormals::Ptr
    getSurfaceNormals () const
    {
      return (normals_);
    }

    // Get a pointer to the cloud of feature descriptors
    LocalFeatures::Ptr
    getLocalFeatures () const
    {
      return (features_);
    }

  protected:
    // Compute the surface normals and local features
    void
    processIn