创建octree实例
float resolution=128.0f //分辨率
pcl::octree::OctreePointCloudSearch<pcl::PointXYZ>octree(resolution);//初始化octree
octree.setInputCloud(cloud);
octree.addPointsFromInputCloud();
体素近邻搜索:
vector<int>pointIdxVec; //最近点索引
octree.voxelSearch(searchPoint,PointIdxVec);
K近邻搜索:
octree.nearestKSearch(searchPoint,K,索引向量,距离)
半径内近邻搜索:
octree.radiusSearch(searchPoint,半径,索引向量,距离)