PCL点云库学习笔记（5）：建立点云的kdtree索引

初学者笔记：

点云数据链接：
链接：https://pan.baidu.com/s/1VTVxn3BntbAr9tGHv6L-HA
提取码：u81q

代码：

#include <vtkAutoInit.h>
VTK_MODULE_INIT(vtkRenderingOpenGL)
#include<pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <iostream>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <vector>
#include<ctime>
#include<cstdlib>


using namespace pcl;
using namespace std;

typedef PointXYZ PoinT;

int *rand_rgb(){//随机产生颜色
	int *rgb = new int[3];
	rgb[0] = rand() % 255;
	rgb[1] = rand() % 255;
	rgb[2] = rand() % 255;
	return rgb;
}

int main(){
	PointCloud<PoinT>::Ptr cloud(new PointCloud<PoinT>);
	if (io::loadPCDFile("C:\\Users\\Administrator\\Desktop\\desk.pcd", *cloud) == -1){
		PCL_ERROR("read false");
	}
//建立点云的kdtree索引
	KdTreeFLANN<PoinT> kdtree;
	kdtree.setInputCloud(cloud);
	int K = 100;
	PoinT searchpoint;
	vector<int> pointIdxNKNSearch(K);
	vector<float> pointNKNSquaredDistance(K);

	srand((unsigned)time(NULL));
	int orginal_point= rand() % cloud->size();
	PointCloud<PoinT>::Ptr copy_cloud(new PointCloud<PoinT>);
	searchpoint = cloud->points[orginal_point];
	//绘制较大的球邻域******************************************************************************
	float R1 = 0.015;
	std::vector<int> pointIdxRadiusSearch;
	std::vector<float> pointRadiusSquaredDistance;
	kdtree.radiusSearch(searchpoint, R1, pointIdxRadiusSearch, pointRadiusSquaredDistance);
	PointCloud<PoinT>::Ptr R_copy_cloud1(new PointCloud<PoinT>);
	copyPointCloud<PoinT>(*cloud, pointIdxRadiusSearch, *R_copy_cloud1);
	visualization::PCLVisualizer::Ptr viewer(new visualization::PCLVisualizer("3d viewer"));
	viewer->setBackgroundColor(1, 1, 1);
	visualization::PointCloudColorHandlerCustom<PoinT>rgb3(R_copy_cloud1, 0, 0, 0);
	viewer->addPointCloud(R_copy_cloud1, rgb3, "cloud3");
	viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 3, "cloud3");
	//	K邻域************************************************************************************************
	kdtree.nearestKSearch(searchpoint, K, pointIdxNKNSearch, pointNKNSquaredDistance);
	copyPointCloud<PoinT>(*cloud, pointIdxNKNSearch, *copy_cloud);
	visualization::PointCloudColorHandlerCustom<PoinT>rgb1(copy_cloud, 255,0,0);

	viewer->addPointCloud(copy_cloud, rgb1, "cloud1");
	viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 10, "cloud1");
	for (int i = 0; i < copy_cloud->size();i++)
	{
		stringstream ss;
		ss << i;
		viewer->addLine(copy_cloud->points[0], copy_cloud->points[i], ss.str());
	}

	//球邻域*************************************************************************************************
	float R = 0.01;
	kdtree.radiusSearch(searchpoint, R, pointIdxRadiusSearch, pointRadiusSquaredDistance);
	PointCloud<PoinT>::Ptr R_copy_cloud(new PointCloud<PoinT>);
	copyPointCloud<PoinT>(*cloud, pointIdxRadiusSearch, *R_copy_cloud);
	visualization::PointCloudColorHandlerCustom<PoinT>rgb2(R_copy_cloud, 0, 255, 0);
	viewer->addPointCloud(R_copy_cloud, rgb2, "cloud2");
	viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 5, "cloud2");
	viewer->addSphere(copy_cloud->points[0], R,1,1,1);
	viewer->setShapeRenderingProperties(visualization::PCL_VISUALIZER_OPACITY, 0.3, "sphere");

	viewer->spin();



}

可视化结果：
红色为K邻域点；绿色为球邻域点；黑色为辅助展示数据