pcl近邻搜索提取点云

1.提取近邻点子集

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/common/eigen.h>
#include <pcl/common/centroid.h>
#include<pcl/kdtree/kdtree.h>
#include<pcl/search/kdtree.h>
#include<pcl/filters/extract_indices.h>
using namespace std;

int main(int argc, char** argv)
{
    // 导入点云
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in(new pcl::PointCloud<pcl::PointXYZ>);

    if (pcl::io::loadPCDFile("source.pcd", *cloud_in) == -1)
    {
        cerr << "can't read file " << endl;
        return -1;
    }
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_out(new pcl::PointCloud<pcl::PointXYZ>);
    pcl::KdTreeFLANN<pcl::PointXYZ> kdtree;
    kdtree.setInputCloud(cloud_in);
    std::vector<int> search_indicies;
    std::vector<float> kdtree_distance;
    pcl::PointXYZ searchPoint = cloud_i