flann库的最近邻搜索

最新推荐文章于 2023-02-16 11:33:17 发布

MagiChos

最新推荐文章于 2023-02-16 11:33:17 发布

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分类专栏： PCL

本文链接：https://blog.csdn.net/hanshuobest/article/details/52234007

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#include <flann/flann.hpp>
#include <flann/util/matrix.h>
#include <iostream>
#include <ostream>
using namespace std;

struct MyPoint
{
    float x ;
    float y ;
    MyPoint()
    {
        x = 0 ; 
        y = 0 ;
    }
    MyPoint(float x_ , float y_)
    {
        x = x_ ;
        y = y_ ;
    }
    MyPoint(const MyPoint &my)
    {
        this->x = my.x ;
        this->y = my.y ;
    }
    friend inline ostream &operator <<(ostream &os , const MyPoint &mp)
    {
        os<<mp.x<<","<<mp.y ;
        return os ;
    }
};

int nearestKSearch(float *data , int N , float *query , int knn , vector<int>&indices , vector<float> &distance) ;
int nearestRSearch(float *data , int N , float *query , float radius , vector<int> &indices , vector<float> &distance) ;

void main()
{
    float *my_dataset = new float[1000 * 3] ;
    for (int i = 0 ; i < 1000 ; ++i)
    {
        my_dataset[3 * i + 0] = i ;
        my_dataset[3 * i + 1] = i ;
        my_dataset[3 * i + 2] = i ;
    }
    float *my_query = new float[3] ;
    for (int i = 0 ; i < 3 ; ++i)
    {
        my_query[0] = 500 ;
        my_query[1] = 500 ;
        my_query[2] = 500 ;
    }
    vector<int> k_indice(10) ;
    vector<float> k_distance(10) ;
    nearestKSearch(my_dataset , 1000 , my_query , 10 , k_indice , k_distance) ;
    cout<<"查找点：（"<<my_query[0]<<","<<my_query[1]<<","<<my_query[2]<<")"<<"最近10个点为：\n" ;
    for (int i = 0 ; i < 10 ; ++i)
    {
        cout<<my_dataset[k_indice[i] * 3 + 0]<<","<<my_dataset[k_indice[i] * 3 + 1]<<","<<my_dataset[k_indice[i] * 3 + 2]<<" , distance = "<<k_distance[i]<<endl ;
    } 

    cout<<"半径最近邻搜索！\n" ;

    vector<int> radius_indice(1) ;
    vector<float> radius_distance(1) ;
    int return_N = nearestRSearch(my_dataset , 1000 , my_query , 10 , radius_indice , radius_distance) ;
    cout<<my_dataset[radius_indice[0] * 3 + 0]<<","<<my_dataset[radius_indice[0] * 3 + 1]<<","<<my_dataset[radius_indice[0] * 3 + 2]<<" , distance = "<<radius_distance[0]<<endl ;

}

int nearestKSearch(float *data , int N , float *query , int knn , vector<int>&indices , vector<float> &distance)
{
    flann::Matrix<float> dataset = flann::Matrix<float>(data , N , 3) ;
    flann::Matrix<float> queryset = flann::Matrix<float>(query , 1 , 3) ;

    flann::Index<flann::L2<float> > index(dataset , flann::KDTreeIndexParams(4)) ;
    index.buildIndex() ;

    flann::Matrix<int> indices_mat(&indices[0] , 1 , knn) ;
    flann::Matrix<float> dist_mat(&distance[0] , 1 , knn) ;

    int return_value = index.knnSearch(queryset , indices_mat , dist_mat , knn , flann::SearchParams(15)) ;

    return return_value ;
}

int nearestRSearch(float *data , int N , float *query , float radius , vector<int> &indices , vector<float> &distance)
{
    vector<vector<int> > radius_indices(1) ;
    vector<vector<float> > radius_dists(1) ;

    flann::Matrix<float> dataset = flann::Matrix<float>(data , N , 3) ;
    flann::Matrix<float> queryset = flann::Matrix<float>(query , 1 , 3) ;

    flann::Index<flann::L2<float> > index(dataset , flann::KDTreeIndexParams(4)) ;
    index.buildIndex() ;

    int neighbors_in_radius = index.radiusSearch(queryset , radius_indices , radius_dists , radius , flann::SearchParams(15)) ;
    indices = radius_indices[0] ;
    distance = radius_dists[0] ;

    return neighbors_in_radius ;
}