std::cout<<"PointCloud before filtering has: "<<cloud->points.size()<<" data points."<<std::endl; //创建kdtree对象,并将读取到的点云设置为输入。 pcl::KdTreeFLANN<pcl::PointXYZRGBA>kdtree; kdtree.setInputCloud(cloud); pcl::PointXYZRGBAsearchPoint; searchPoint.x=0; searchPoint.y=0; ...