kd树与八叉树（4）

kd树--带约束的二分查找树

八叉树--将体元分成8个子立方体

基于kd树来完成对应点邻域点的搜索：

//创建kd树
pcl::KdTreeFLANN<pcl::PointXYZ> kdtree;
//设定待搜索点云
kdtree.setInputCloud(cloud);
//目标点：point1

//按照点数做k近邻搜索
int k = 10;
std::vector<int> pointIdxNKNSearch(k);
std::vector<float> pointRadiusNKNSquaredDistance(k);
if(kdtree.nearestKSearch(point1,k,pointIdxNKNSearch,pointRadiusNKNSquaredDistance) > 0)
{
    ……
}

//按照范围做邻近搜索
if(kdtree.radiusSearch(point1,r,pointIdxNKNSearch,pointRadiusNKNSquaredDistance) > 0)
{
    ……
}

基于八叉树来完成对应点邻域点的搜索：

//体素分辨率设置
float resolution = 128.0f;
//创建八叉树
pcl::octree::OctreePointCloudSearch<pcl::PointXYZ> octree(resolution);
//待搜索点云
octree.setInputCloud(cloud);
octree.addPointsFromInputCloud();

//基于点数的搜索
if(octree.nearestKSearch(point,k,pointIdxNKNSearch,pointNKNSquaredDistance) > 0)
{
    ……
}

//基于范围的搜索
if(octree.radiusSearch(point,r,pointIdxNKNSearch,pointNKNSquaredDistance) > 0)
{
    ……
}

基于八叉树的点云变化检测：

float resolution = 32.0f;
pcl::octree::OctreePointCloudChangeDetector<pcl::PointXYZ> octree(resolution);
//变化前点云输入八叉树
octree.setInputCloud(cloud1);
octree.addPointsFromInputCloud();
//交换八叉树缓存
octree.switchBuffers();
//变化后点云输入八叉树
octree.setInputCloud(cloud2);
octree.addPointsFromInputCloud();
std::vector<int> newPointIdxVector;
octree.getPointIndicesFromNewVoxels(newPointIdxVector);

//变化后增加的点即为cloud2(newPointIdxVector[i])