for const auto& edge resulta遍历所有生成树的边 pclPointXYZRGB p0 = cloud1-pointsedgesrc;在点云cloud里面找到该索引对应的点值 pclPointXYZRGB p00 = cloud1-pointsedgetgt; 判断叶尖点与找到边两点是否相同若相同则将该边加入yr1点云指针将该边加入容器yr1

for (auto it = resulta.begin(); it != resulta.end(); ) { const auto& edge = *it; pcl::PointXYZRGB p0 = cloud1->points[edge.src]; pcl::PointXYZRGB p00 = cloud1->points[edge.tgt];

if ((point56.x == p0.x) && (point56.y == p0.y) && (point56.z == p0.z))
{
    yr1->push_back(p00);
    distances = distances + euclideanDistance(point56, p00);
    point56 = p00;
    it = resulta.erase(it);
}
else if ((point56.x == p00.x) && (point56.y == p00.y) && (point56.z == p00.z))
{
    yr1->push_back(p0);
    distances = distances + euclideanDistance(point56, p0);
    point56 = p0;
    it = resulta.erase(it);
}
else
{
    ++it;
}