k-d树在PCL中的应用
上一讲中,我们介绍了k-d树在二维上的原理,k-d树构建算法和k-d树是如何应用于最近邻查找算法的。对于PCL中的k-d树来说,只不过是将二维提升到了三维而已。下面我们就看看PCL是如何将k-d树应用于范围搜索和最近邻搜索的。
PCL中使用的k-d树的算法来自FLANN(Fast Library for Approximate Nearest Neighbors),它是目前最完整的(近似)最近邻开源库。不但实现了一系列查找算法,还包含了一种自动选取最快算法的机制。
K近邻搜索
K近邻搜索是给定查询点及正整数K,从数据集中找到距离查询点最近的K个数据。
头文件
#include <pcl/kdtree/kdtree_flann.h>
步骤
- 初始化k-d树
// 初始化kdTree
pcl::KdTreeFLANN<pcl::PointXYZ> kdtree;
// 设置要搜索的点云
kdtree.setInputCloud(cloud);
- 输入查询点和正整数K进行搜索
kdtree.nearestKSearch(searchPoint, K, pointIdxNKNSearch, pointNKNSquaredDistance)
关键函数:
int
nearestKSearch (const PointT &point, int k,
std::vector<int> &k_indices, std::vector<float> &k_sqr_distances) const;
- 输入输出参数:
- point[in]:查询点
- k[in]:正整数K,即要搜索的最近邻点的数目
- k_indices[out]:搜索到的最近邻点在点云中的下标
- k_sqr_distances[out]:搜索到的最近邻点距离查询点的距离的平方值
- 返回值:搜索到的最近邻点的数目
范围搜索
范围搜索就是给定查询点和查询距离的阈值,从数据集中找出所有与查询点距离小于阈值的数据。
头文件
#include <pcl/kdtree/kdtree_flann.h>
步骤
- 初始化k-d树
// 初始化kdTree
pcl::KdTreeFLANN<pcl::PointXYZ> kdtree;
// 设置要搜索的点云
kdtree.setInputCloud(cloud);
- 输入查询点和搜索半径进行搜索
kdtree.radiusSearch(searchPoint, radius, pointIdxRadiusSearch, pointRadiusSquaredDistance)
关键函数:
int
radiusSearch (const PointT &point, double radius, std::vector<int> &k_indices,
std::vector<float> &k_sqr_distances, unsigned int max_nn = 0) const;
- 输入输出参数:
- point[in]:查询点
- radius[in]:搜索半径
- k_indices[out]:搜索到的最近邻点在点云中的下标
- k_sqr_distances[out]:搜索到的最近邻点距离查询点的距离的平方值
- max_nn[in]:默认为0,搜索到的点的上限,如果搜索到的点数目多于它,那么丢弃超出的部分;如果max_nn设为0或者大于搜索点云的大小,则返回所有找到的点。
- 返回值:搜索到的最近邻点的数目
程序
/*
* 功能:kdTree的应用,包括k最近邻搜索和范围搜索
*/
#include <pcl/point_cloud.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <iostream>
#include <vector>
#include <ctime>
using namespace std;
int
main(int argc, char** argv)
{
// 种下随机数种子
srand(time(NULL));
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
// 用随机数,随机生成1000个点的无序点云
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); // c++中rand()函数生成的范围:0~RAND_MAX,
cloud->points[i].y = 1024.0f * rand() / (RAND_MAX + 1.0f);
cloud->points[i].z = 1024.0f * rand() / (RAND_MAX + 1.0f);
}
// 初始化kdTree
pcl::KdTreeFLANN<pcl::PointXYZ> kdtree;
// 设置要搜索的点云
kdtree.setInputCloud(cloud);
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);
// K近邻搜索
int K = 10;
std::vector<int> pointIdxNKNSearch(K);
std::vector<float> pointNKNSquaredDistance(K);
std::cout << "K nearest neighbor search at (" << searchPoint.x
<< " " << searchPoint.y
<< " " << searchPoint.z
<< ") with K=" << K << std::endl;
if (kdtree.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
<< " (squared distance: " << pointNKNSquaredDistance[i] << ")" << std::endl;
}
// 以radius为半径的范围搜索
std::vector<int> pointIdxRadiusSearch;
std::vector<float> pointRadiusSquaredDistance;
float radius = 256.0f * rand() / (RAND_MAX + 1.0f);
std::cout << "Neighbors within radius search at (" << searchPoint.x
<< " " << searchPoint.y
<< " " << searchPoint.z
<< ") with radius=" << radius << std::endl;
if (kdtree.radiusSearch(searchPoint, radius, pointIdxRadiusSearch, pointRadiusSquaredDistance) > 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: " << pointRadiusSquaredDistance[i] << ")" << std::endl;
}
system("pause");
return 0;
}