pcl的NormalEstimation计算法向量

pcl::PointCloud<pcl::Normal>::Ptr find_pcl_kdtree_normal(CP cloudIn)
{
    pcl::console::TicToc time;time.tic();
    pcl::NormalEstimation<pcl::PointXYZ, pcl::Normal> ne;
    ne.setInputCloud(cloudIn);
    pcl::search::KdTree<pcl::PointXYZ>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZ>());
    pcl::PointCloud<pcl::Normal>::Ptr cloud_normalsss(new pcl::PointCloud<pcl::Normal>);
    
    ne.setSearchMethod(tree);
    ne.setKSearch(10);
    ne.compute(*cloud_normalsss);

    cout << "NormalEstimation计算法线用时:" << time.toc() << "ms" << endl;
    return cloud_normalsss;
}