ISS提取特征点

#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/common/io.h>
#include <pcl/keypoints/iss_3d.h>
#include <pcl/features/normal_3d.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <boost/thread/thread.hpp>

typedef pcl::PointCloud<pcl::PointXYZRGBA> PointCloud;

// 点云可视化函数
// 显示原始点云（model）和提取的关键点（scene_keypoints）
void visualize_pcd(PointCloud::Ptr model, pcl::PointCloud<pcl::PointXYZRGB>::Ptr scene_keypoints)
{
    pcl::visualization::PCLVisualizer viewer("registration Viewer");
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGBA> model_color(model, 0, 255, 0);
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGB> scene_keypoint_color(scene_keypoints, 0, 0, 255);
    viewer.setBackgroundColor(255, 255, 255);
    viewer.addPointCloud(model, model_color, "model");
    viewer.a