#include <iostream>
#include<pcl/point_cloud.h>
#include<pcl/octree/octree_search.h>
#include <vector>
#include <ctime>
#include <boost/concept_check.hpp>
int main(int argc, char ** argv)
{
srand((unsigned int) time (NULL));
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
//generate pointcloud data
cloud->width = 1000;
cloud->height = 1;
cloud->points.resize(cloud->width *cloud->height);
for(size_t i = 0; i < cloud->points.size(); ++i)
{
cloud->points[i].x = 1024.0f * rand() / (RAND_MAX + 1.0f);
cloud->points[i].y = 1024.0f * rand() / (RAND_MAX + 1.0f);
cloud->points[i].z = 1024.0f * rand() / (RAND_MAX + 1.0f);
}
//分辨率描述了最小体元素的长度为128,如果点云的边界框是已知的,应该使用defineBoundingBox的方法分配给octree
float resolution = 128.0f;
pcl::octree::OctreePointCloudSearch<pcl::PointXYZ> octree (resolution);
octree.setInputCloud(cloud);
octree.addPointsFromInputCloud();
pcl::PointXYZ searchPoint;
searchPoint.x = 1024.0f * rand() / (RAND_MAX + 1.0f);
searchPoint.y = 1024.0f * rand() / (RAND_MAX + 1.0f);
searchPoint.z = 1024.0f * rand() / (RAND_MAX + 1.0f);
std::vector<int> pointIdxVec;
if(octree.voxelSearch(searchPoint, pointIdxVec))
{
std::cout << "Neighbour within voxel search at ( " << searchPoint.x
<< " " << searchPoint.y << " " << searchPoint.z << " ) " << std::endl;
for(size_t i = 0; i < pointIdxVec.size(); ++i)
{
std::cout << " " << cloud->points[pointIdxVec[i]].x
<< " " << cloud->points[pointIdxVec[i]].y
<< " " << cloud->points[pointIdxVec[i]].z << std::endl;
}
}
int K = 10;
std::vector<int> pointIdxNKNSearch;
std::vector<float> pointNKNSquaredDistance;
std::cout << "K nearest neighbour search at ( " << searchPoint.x
<< " " << searchPoint.y
<< " " << searchPoint.z
<< " ) with K = " << K << std::endl;
if(octree.nearestKSearch(searchPoint, K, pointIdxNKNSearch, pointNKNSquaredDistance) > 0)
{
for(size_t i = 0; i < pointIdxNKNSearch.size(); ++i)
std::cout << " " << cloud->points[pointIdxNKNSearch[i]].x
<< " " << cloud->points[pointIdxNKNSearch[i]].y
<< " " << cloud->points[pointIdxNKNSearch[i]].z
<< " ( square distance: " << pointNKNSquaredDistance[i] << " ) " << std::endl;
}
std::vector<int>pointIdxRadiusSearch;
std::vector<float> pointRadiusSquareDistance;
float radius = 256.0f * rand() / (RAND_MAX + 1.0f);
std::cout << "Neighbours within radius search at ( " << searchPoint.x
<< " " << searchPoint.y
<< " " << searchPoint.z
<< " ) with radius = " << radius << std::endl;
if(octree.radiusSearch(searchPoint, radius, pointIdxRadiusSearch, pointRadiusSquareDistance) > 0)
{
for(size_t i = 0; i < pointIdxRadiusSearch.size(); ++i)
std::cout << " " << cloud->points[pointIdxRadiusSearch[i]].x
<< " " << cloud->points[pointIdxRadiusSearch[i]].y
<< " " << cloud->points[pointIdxRadiusSearch[i]].z
<< " (squared distance: " << pointRadiusSquareDistance[i] << " ) " << std::endl;
}
}