PCL KdTree 求最邻近的点和点间距

#include <pcl/point_types.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <iostream>
#include <vector>
#include <ctime>
#include <math.h>

int
main(int argc, char** argv)
{
   
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());


	cloud->width = 100;
	cloud->height = 1;

	cloud->resize(cloud->width * cloud->height);

	for (std::size_t i = 0; i < cloud->size(); i++)
	{
   
		(*cloud)[i]<