#include

int main(int argc, char** argv) {

srand((unsigned int) time(NULL));//随机种子

//Octree resolution - side length of octree voxels float resolution = 15.0f; //实例化基于octree的点云检测类 pcl::octree::OctreePointCloudChangeDetector octree(resolution);//创建检测类的对象 //创建两个XYZ点云指针，想办法将文件中的数据赋值给该指针 pcl::PointCloud::Ptr cloud1 (new pcl::PointCloud); pcl::PointCloud::Ptr cloud2 (new pcl::PointCloud); //pcl::PointCloud::Ptr cloud3 (new pcl::PointCloud);//用来类型转换的 pcl::PointCloud::Ptr cloud_result (new pcl::PointCloud);//使用这个指针将获得的索引强制转换并输出

//加载点云文件给cloud指针 if(pcl::io::loadPCDFile("room_scan1.pcd",*cloud1)==-1)//?????? { PCL_ERROR("Couldn't read file test_pcd.pcd\n"); return(-1); }

std::cout