《PCL》八叉树搜索

namespace pcl
{
  namespace octree
  {
    template<typename PointT, typename LeafContainerT = OctreeContainerPointIndices ,  typename BranchContainerT = OctreeContainerEmpty >
    class OctreePointCloudSearch : public OctreePointCloud<PointT, LeafContainerT, BranchContainerT>
    {
      public:
        OctreePointCloudSearch (const double resolution) :
          OctreePointCloud<PointT, LeafContainerT, BranchContainerT> (resolution)
        {
        }
        
        virtual
        ~OctreePointCloudSearch ()
        {
        }

        bool
        voxelSearch (const PointT& point, std::vector<int>& point_idx_data);
 
        bool
        voxelSearch (const int index, std::vector<int>& point_idx_data);

        inline int
        nearestKSearch (const PointCloud &cloud, int index, int k, std::vector<int> &k_indices,
                        std::vector<float> &k_sqr_distances)
        {
          return (nearestKSearch (cloud[index], k, k_indices, k_sqr_distances));
        }

        /** \brief Search for k-nearest neighbors at given query point.
    };
  }
}