6.3.3 无序点云数据集的空间变化检测

octree是一种管理稀疏3D数据的树状结构，利用octree实现多个无序点云之间的空间变化检测，这些点云可能在尺寸。分辨率 密度，和点顺序等方面有所差异，通过递归的比较octree的树结构，可以鉴定出由octree产生的体素组成的区别所代表的空间变化，还要学习关于octree的“双缓冲”技术，以便实时的探测多个点云之间的空间组成的差异。

#include <pcl/point_cloud.h>
#include <pcl/octree/octree.h>
#include <iostream>
#include <vector>
#include <ctime>
	
int
main (int argc, char**argv)
{
srand ((unsigned int) time (NULL));
// 八叉树分辨率 即体素的大小
float resolution =32.0f;
// 初始化空间变化检测对象
pcl::octree::OctreePointCloudChangeDetector<pcl::PointXYZ>octree (resolution);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudA (new pcl::PointCloud<pcl::PointXYZ> );
//为cloudA创建点云
cloudA->width =128;
cloudA->height =1;
cloudA->points.resize (cloudA->width *cloudA->height);
for (size_t i=0; i<cloudA->points.size (); ++i)
  {
cloudA->points[i].x =64.0f* rand () / (RAND_MAX +1.0f);
cloudA->points[i].y =64.0f* rand () / (RAND_MAX +1.0f);
cloudA->points[i].z =64.0f* rand () / (RAND_MAX +1.0f);
  }
//添加点云到八叉树，建立八叉树
octree.setInputCloud (cloudA);
octree.addPointsFromInputCloud ();
// 交换八叉树缓存，但是cloudA对应的八叉树仍在内存中
octree.switchBuffers ();
pcl::PointCloud<pcl::PointXYZ>::Ptr cloudB (new pcl::PointCloud<pcl::PointXYZ> );
// 为cloudB创建点云
cloudB->width =128;
cloudB->height =1;
cloudB->points.resize (cloudB->width *cloudB->height);
for (size_t i=0; i<cloudB->points.size (); ++i)
  {
cloudB->points[i].x =64.0f* rand () / (RAND_MAX +1.0f);
cloudB->points[i].y =64.0f* rand () / (RAND_MAX +1.0f);
cloudB->points[i].z =64.0f* rand () / (RAND_MAX +1.0f);
  }
//添加 cloudB到八叉树
octree.setInputCloud (cloudB);
octree.addPointsFromInputCloud ();
std::vector<int>newPointIdxVector;
//获取前一cloudA对应的八叉树在cloudB对应八叉树中没有的体素
octree.getPointIndicesFromNewVoxels (newPointIdxVector);
//打印输出点
std::cout<<"Output from getPointIndicesFromNewVoxels:"<<std::endl;
for (size_t i=0; i<newPointIdxVector.size (); ++i)
std::cout<<i<<"# Index:"<<newPointIdxVector[i]
<<"  Point:"<<cloudB->points[newPointIdxVector[i]].x <<" "
<<cloudB->points[newPointIdxVector[i]].y <<" "
<<cloudB->points[newPointIdxVector[i]].z <<std::endl;
}

1.float resolution =32.0f;resolution 是体素的大小，也就是分辨率；

2.// 初始化空间变化检测对象
   pcl::octree::OctreePointCloudChangeDetector<pcl::PointXYZ>octree (resolution);

   创建了一个八叉树，该八叉树由新增的叶子节点组成，该八叉树的分辨率需要初始化，包围盒可以自己调整也可以设置。

3.octree.setInputCloud (cloudA);添加点云到八叉树，建立八叉树

octree.addPointsFromInputCloud ();将点云调用到八叉树结构中；

4.octree.switchBuffers ();交换八叉树缓存，但是cloudA对应的八叉树仍在内存中（比如将八叉树序列化为描述其分支节点结构的二进制输出向量）

5.octree.getPointIndicesFromNewVoxels (newPointIdxVector);获取前一cloudA对应的八叉树在cloudB对应八叉树中没有的体素

（获取以前缓冲区中不存在的所有叶子节点的索引）

输出结果显示。