PCL点云处理(005)-Kdtree搜索

Kd树（Kd-tree）是PCL中用于快速搜索最近邻点的数据结构。
如果想要使用PCL中的Kd树，需要先安装PCL库并将其引入项目中。下面是一个使用PCL中的Kd树的示例代码：

#include <pcl/point_cloud.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <iostream>
#include <vector>
#include <ctime>

int main(int argc, char **argv)
{
    srand(time(NULL));
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    // 输入生成点云
    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) - 1024.0f / 2.0f;
        cloud->points[i].y = 1024.0f * rand() / (RAND_MAX + 1.0f) - 1024.0f / 2.0f;
        cloud->points[i].z = 1024.0f * rand() / (RAND_MAX + 1.0f) - 1024.0f / 2.0f;
    }
    // 定义kdtree
    pcl::KdTreeFLANN<pcl::PointXYZ> kdtree;
    // 输入点云指针
    kdtree.setInputCloud(cloud);
    // 中心点
    pcl::PointXYZ searchPoint;
    searchPoint.x = 0.0f;
    searchPoint.y = 0.0f;
    searchPoint.z = 0.0f;

    // 搜索中心点最近的10个点
    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;
    }
    // 搜索距离中心点radius内的点
    std::vector<int> pointIdxRadiusSearch;
    std::vector<float> pointRadiusSquaredDistance;
    float radius = 100.0f;
    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;
    }
    return 0;
}

这段代码首先创建了一个包含一些点的点云对象cloud，并创建了一个Kd树对象kdtree。然后定义了要搜索的中心点点search_point和搜索参数K。最后，在调用nearestKSearch函数进行搜索后，输出搜索结果。

本系列全部代码的链接