#include?
#include?

#include?
#include?
#include?

int?main（int?argc?char**?argv）
{
	srand（time（NULL））;?//用系統時間初始化隨機種子

	pcl::PointCloud::Ptr?cloud（new?pcl::PointCloud）;

	//?Generate?pointcloud?data?隨機點云生成
	cloud->width?=?1000;?//點云數量
	cloud->height?=?1;?//點云為無序點云
	cloud->points.resize（cloud->width?*?cloud->height）;

	for?（size_t?i?=?0;?i?points.size（）;?++i）?//循環填充點云數據
	{
		cloud->points[i].x?=?1024.0f?*?rand（）?/?（RAND_MAX?+?1.0f）;
		cloud->points[i].y?=?1024.0f?*?rand（）?/?（RAND_MAX?+?1.0f）;
		cloud->points[i].z?=?1024.0f?*?rand（）?/?（RAND_MAX?+?1.0f）;
	}

	pcl::KdTreeFLANN?kdtree;?//創建kd-tree

	kdtree.setInputCloud（cloud）;?//設置搜索空間

	pcl::PointXYZ?searchPoint;		//定義查詢點并賦隨機值
	searchPoint.x?=?1024.0f?*?rand（）?/?（RAND_MAX?+?1.0f）;
	searchPoint.y?=?1024.0f?*?rand（）?/?（RAND_MAX?+?1.0f）;
	searchPoint.z?=?1024.0f?*?rand（）?/?（RAND_MAX?+?1.0f）;

	//?K?nearest?neighbor?search?k?近鄰搜索
	int?K?=?10;
	std::vector?pointIdxNKNSearch（K）;
	std::vector?pointNKNSquaredDistance（K）;
	std::cout?<		<		<		<
	if?（kdtree.nearestKSearch（searchPoint?K?pointIdxNKNSearch?pointNKNSquaredDistance）?>?0）?//執行k近鄰搜索
	{
		for?（size_t?i?=?0;?i?			std::cout?<points[pointIdxNKNSearch[i]].x
			<points[pointIdxNKNSearch[i]].y
			<points[pointIdxNKNSearch[i]].z
			<	}

	//?Neighbors?within?radius?search?半徑r內近鄰搜索方式

	std::vector?pointIdxRadiusSearch;?//存儲近鄰索引
	std::vector?pointRadiusSquaredDistance;?//存儲近鄰對應的距離平方
	float?radius?=?256.0f?*?rand（）?/?（RAND_MAX?+?1.0f）;

	std::cout?<		<		<		<

	if?（kdtree.radiusSearch（searchPoint?radius?pointIdxRadiusSearch?pointRadiusSquaredDistance）?>?0）
	{
		for?（size_t?i?=?0;?i?			std::cout?<points[pointIdxRadiusSearch[i]].x
			<points[pointIdxRadiusSearch[i]].y
			<points[pointIdxRadiusSearch[i]].z
			<	}
	system（“pause“）;
	return?0;
}

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2019-12-02?17:43??Project1\
?????目錄???????????0??2019-12-02?17:43??Project1\.vs\
?????目錄???????????0??2019-12-02?17:43??Project1\.vs\Project1\
?????目錄???????????0??2019-12-02?17:43??Project1\.vs\Project1\v15\
?????文件???????24576??2019-12-02?16:36??Project1\.vs\Project1\v15\.suo
?????文件?????5464064??2019-12-02?16:36??Project1\.vs\Project1\v15\Browse.VC.db
?????目錄???????????0??2019-12-02?17:43??Project1\.vs\Project1\v15\ipch\
?????目錄???????????0??2019-12-02?17:43??Project1\.vs\Project1\v15\ipch\AutoPCH\
?????目錄???????????0??2019-12-02?17:43??Project1\.vs\Project1\v15\ipch\AutoPCH\8e3285934654fb92\
?????文件????33357824??2019-12-01?21:21??Project1\.vs\Project1\v15\ipch\AutoPCH\8e3285934654fb92\KD_TREE.ipch
?????目錄???????????0??2019-12-02?17:43??Project1\.vs\Project1\v15\ipch\AutoPCH\e096050e3b828a1\
?????文件????33947648??2019-12-02?16:36??Project1\.vs\Project1\v15\ipch\AutoPCH\e096050e3b828a1\KD_TREE.ipch
?????文件?????????303??2019-12-02?16:35??Project1\CMakeLists
?????文件?????????303??2019-12-02?13:30??Project1\CMakeLists.txt
?????目錄???????????0??2019-12-02?17:43??Project1\cmake_bin\
?????目錄???????????0??2019-12-02?17:43??Project1\cmake_bin\.vs\
?????目錄???????????0??2019-12-02?17:43??Project1\cmake_bin\.vs\Kd_tree\
?????目錄???????????0??2019-12-02?17:43??Project1\cmake_bin\.vs\Kd_tree\v15\
?????文件???????34304??2019-12-02?16:39??Project1\cmake_bin\.vs\Kd_tree\v15\.suo
?????文件????72372224??2019-12-02?16:34??Project1\cmake_bin\.vs\Kd_tree\v15\Browse.VC.db
?????文件??????????58??2019-12-02?16:37??Project1\cmake_bin\.vs\Kd_tree\v15\Browse.VC.opendb
?????目錄???????????0??2019-12-02?17:43??Project1\cmake_bin\.vs\Kd_tree\v15\ipch\
?????目錄???????????0??2019-12-02?17:43??Project1\cmake_bin\.vs\Kd_tree\v15\ipch\AutoPCH\
?????目錄???????????0??2019-12-02?17:43??Project1\cmake_bin\.vs\Kd_tree\v15\ipch\AutoPCH\7f42d19b7186464c\
?????文件???186646528??2019-12-02?16:38??Project1\cmake_bin\.vs\Kd_tree\v15\ipch\AutoPCH\7f42d19b7186464c\KD_TREE.ipch
?????文件??????790528??2019-12-02?13:38??Project1\cmake_bin\.vs\Kd_tree\v15\Solution.VC.db
?????文件???????32768??2019-12-02?16:37??Project1\cmake_bin\.vs\Kd_tree\v15\Solution.VC.db-shm
?????文件???????12392??2019-12-02?16:37??Project1\cmake_bin\.vs\Kd_tree\v15\Solution.VC.db-wal
?????文件???????60904??2019-12-02?13:32??Project1\cmake_bin\ALL_BUILD.vcxproj
?????文件?????????291??2019-12-02?13:32??Project1\cmake_bin\ALL_BUILD.vcxproj.filters
?????文件?????????165??2019-12-02?13:34??Project1\cmake_bin\ALL_BUILD.vcxproj.user
............此處省略108個文件信息