点云的最小包围盒及六面体

    pcl::PointXYZRGBA min, max;
    	pcl::getMinMax3D(*cloud_platform, min, max);
    	//寻找cloud_box_filter的最小包围盒
    	pcl::MomentOfInertiaEstimation <pcl::PointXYZRGBA> feature_extractor;
    	feature_extractor.setInputCloud(cloud_box_filter);
    	feature_extractor.compute();
    	//描述符和边界框
    	std::vector <float> moment_of_inertia;
    	std::vector <float> eccentricity;
    	pcl::PointXYZRGBA min_point_AABB;
    	pcl::PointXYZRGBA max_point_AABB;
    	pcl::PointXYZRGBA min_point_OBB;
    	pcl::PointXYZRGBA max_point_OBB;
    	pcl::PointXYZRGBA position_OBB;
    	Eigen::Matri