从距离图像中提取NARF关键点，用户可直观看到关键点的位置和数量(Extract the NARF key from the distance image)

基于特征的点云全局配准算法： NARF特征点提取+PFH描述子计算+SAC-IA位姿变换计算。(Feature based global registration algorithm for point cloud: The NARF feature points are extracted + PFH descr iptors, and the calculation of + SAC-IA position and attitude transformation is calculate