Cluster recognition and identifying objects, trouble using SHOTColor, help?

edit

I was using VFH for object detection, now I need some colour information about the point cloud that I will use, I don't know how to use SHOTColor properly, could you guys give me a light?

I used the following tutorial from the pointclouds.org : http://pointclouds.org/documentation/...

And I tried to make a adapted version for the SHOTColor, using only the descriptor, here it is the reference: http://docs.pointclouds.org/1.7.1/str...

Hence, how can I make a comparison of the colour information and make a tree using the FLANN to compare and identify the objects?

Specifically, the rf[9] vector of pcl::SHOT1344, any help would be much appreciated

I'm trying to do it with real time recognition using rviz