PCL learning - Octree search

Create octree examples

float resolution=128.0f //分辨率
pcl::octree::OctreePointCloudSearch<pcl::PointXYZ>octree(resolution);//初始化octree
octree.setInputCloud(cloud);
octree.addPointsFromInputCloud();

Voxel neighborhood search:

vector<int>pointIdxVec;    //最近点索引
octree.voxelSearch(searchPoint,PointIdxVec);

K-nearest neighbor search:
octree.nearestKSearch (Searchpoint, K, index vector, distance)

Search within a radius of neighbors:
octree.radiusSearch (Searchpoint, radius vector index, distance)