pcl nearestKSearch

/** \brief Search for the k-nearest neighbors for the given query point.
          * \param[in] point the given query point
          * \param[in] k the number of neighbors to search for
          * \param[out] k_indices the resultant indices of the neighboring points (must be resized to \a k a priori!)
          * \param[out] k_sqr_distances the resultant squared distances to the neighboring points (must be resized to \a k
          * a priori!)
          * \return number of neighbors found
          */
        int
        nearestKSearch (const PointT &point, int k, 
                        std::vector<int> &k_indices, 
                        std::vector<float> &k_sqr_distances) const;

param：
point：以这个传入的点为基准，基准点。
k：取几个离基本点最近的点
k_indices：这几个K点的下脚标
k_sqr_distances：这几个K点对于基准点的距离

    /*
     * \brief Search for the closest nearest neighbor of a given point.
     * \param query the point to search a nearest neighbour for
     * \param index vector of size 1 to store the index of the nearest neighbour found 给1个空间的vector去储存这个找到的最近点的脚标（因为之保留最近的那个点）
     * \param distance vector of size 1 to store the distance to nearest neighbour found 给1个空间的vector去储存找到的最近点的距离
     */
     
    inline bool searchForNeighbors(const PointSource& query, std::vector<int>& index, std::vector<float>& distance) const
    {
        //只搜索一个最近点和距离
        int k=tree_->nearestKSearch(query,1,index,distance);
    }