pcl kdtree的坑indices,distance

pcl kdtree的indices的第一项是自己,因为自己离自己最近.

如果项目中要选用离自己最近的10个点,应该从indices的第二项开始取,取到第11项也就是下角标1-10

void kdtree_test() {

    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    for (int i = 0; i < 100; i++) {
        cloud->emplace_back(i, 0, 0);
    }
    pcl::KdTreeFLANN<pcl::PointXYZ> kdtree;
    kdtree.setInputCloud(cloud);
    std::vector<int> indices(10);
    std::vector<float> distance(10);
    pcl::PointXYZ test;
    test = cloud->points[0];
    if (kdtree.nearestKSearch(test, 10, indices, distance) > 0)//K=10
    {   
        cout << "测试点:" << test << endl;
        for (int i = 0; i < indices.size(); ++i)
        {
            cout << "第" << i << "个: " << cloud->points[i] << endl;
        }
    }
    return;
}

结果如下

还有distance是距离的平方,不是距离