[PCL]FPFH描述子

fpfh_est.setSearchSurface(data);

如果没有设置SearchSurface，使用input数据集作为查找的表面

// If no search surface has been defined, use the input dataset as the search surface itself
  if (!surface_)
  {
    fake_surface_ = true;
    surface_ = input_;
  }