#include??
#include??
//#include?
#include?
#include?
using?namespace?std;

int?main（）
{
??pcl::PointCloud::Ptr?cloud?（new?pcl::PointCloud）;
??pcl::io::loadPCDFile（“leaf4.pcd“?*cloud）;

??//?Create?the?normal?estimation?class?and?pass?the?input?dataset?to?it
??pcl::NormalEstimationOMP?ne;
??ne.setInputCloud?（cloud）;
??ne.setNumberOfThreads（4）;

??//?Create?an?empty?kdtree?representation?and?pass?it?to?the?normal?estimation?object.
??//?Its?content?will?be?filled?inside?the?object?based?on?the?given?input?dataset?（as?no?other?search?surface?is?given）.
??pcl::search::KdTree::Ptr?tree?（new?pcl::search::KdTree?（））;
??ne.setSearchMethod?（tree）;

??//?Output?datasets
??pcl::PointCloud::Ptr?cloud_normals?（new?pcl::PointCloud）;

??//?Use?all?neighbors?in