点云构建八叉树及检索

1.说明

八叉树（octree）

寻找点云的最大范围，建立首个立方体

然后八等分成小立方体，直至最小体素单元

2.代码

/*依赖库文件*/
#include <pcl/point_cloud.h>
#include <pcl/octree/octree.h>

int main()
{
    float resolution = 16.0f;/*八叉树体素单元*/
    pcl::octree::OctreePointCloudChangeDetector<pcl::PointXYZ> octree(resolution);
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud1(new pcl::PointCloud<pcl::PointXYZ>);/*待处理点云1*/
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud2(new pcl::PointCloud<pcl::PointXYZ>);/*待处理点云2*/
    octree.setInputCloud(cloud1);
    octree.addPointsFromInputCloud();
    octree.switchBuffers ();
    octree.setInputCloud(cloud2);
    octree.addPointsFromInputCloud();
    /*点云1与点云2之间变化的部分*/
    std::vector<int> newPointIdxVector;
    octree.getPointIndicesFromNewVoxels(newPointIdxVector);
    /*输出变化检测结果(2中有，1中没有)*/
    for(size_t i = 0; i < newPointIdxVector.size(); ++i)
    {
        std::cout << cloud2 -> points[newPointIdxVector[i]].x << std::endl;
        std::cout << cloud2 -> points[newPointIdxVector[i]].y << std::endl;
        std::cout << cloud2 -> points[newPointIdxVector[i]].z << std::endl;
    }
    return 0；
}