3d激光雷达开发（八叉树）

和kd树一样，八叉树也是一种数据管理方式。如果二叉树分别由左子树和右子树两个分支，那么八叉树就有八个分支。选择这一种数据结构主要也是为了查找方便。参考代码可以查找这个链接，https://pcl.readthedocs.io/projects/tutorials/en/master/octree.html#octree-search

1、准备octree_search.cpp文件

#include <pcl/point_cloud.h>
#include <pcl/octree/octree_search.h>#include <iostream>
#include <vector>
#include <ctime>int
main ()
{srand ((unsigned int) time (NULL));pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);// Generate pointcloud datacloud->width = 1000;cloud->height = 1;cloud->points.resize (cloud->width * cloud->height);for (std::size_t i = 0; i < cloud->size (); ++i){(*cloud)[i].x = 1024.0f * rand () / (RAND_MAX + 1.0f);(*cloud)[i].y = 1024.0f * rand () / (RAND_MAX + 1.0f);(*cloud)[i].z = 1024.0f * rand () / (RAND_MAX + 1.0f);}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);// Neighbors within voxel searchstd::vector<int> pointIdxVec;if (octree.voxelSearch (searchPoint, pointIdxVec)){std::cout << "Neighbors within voxel search at (" << searchPoint.x << " " << searchPoint.y << " " << searchPoint.z << ")" << std::endl;for (std::size_t i = 0; i < pointIdxVec.size (); ++i)std::cout << "    " << (*cloud)[pointIdxVec[i]].x << " " << (*cloud)[pointIdxVec[i]].y << " " << (*cloud)[pointIdxVec[i]].z << std::endl;}// K nearest neighbor searchint K = 10;std::vector<int> pointIdxNKNSearch;std::vector<float> pointNKNSquaredDistance;std::cout << "K nearest neighbor search at (" << searchPoint.x << " " << searchPoint.y << " " << searchPoint.z<< ") with K=" << K << std::endl;if (octree.nearestKSearch (searchPoint, K, pointIdxNKNSearch, pointNKNSquaredDistance) > 0){for (std::size_t i = 0; i < pointIdxNKNSearch.size (); ++i)std::cout << "    "  <<   (*cloud)[ pointIdxNKNSearch[i] ].x << " " << (*cloud)[ pointIdxNKNSearch[i] ].y << " " << (*cloud)[ pointIdxNKNSearch[i] ].z << " (squared distance: " << pointNKNSquaredDistance[i] << ")" << std::endl;}// Neighbors within radius searchstd::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 (octree.radiusSearch (searchPoint, radius, pointIdxRadiusSearch, pointRadiusSquaredDistance) > 0){for (std::size_t i = 0; i < pointIdxRadiusSearch.size (); ++i)std::cout << "    "  <<   (*cloud)[ pointIdxRadiusSearch[i] ].x << " " << (*cloud)[ pointIdxRadiusSearch[i] ].y << " " << (*cloud)[ pointIdxRadiusSearch[i] ].z << " (squared distance: " << pointRadiusSquaredDistance[i] << ")" << std::endl;}}

2、代码分析

和kd树一样，八叉树也支持最近点查找和半径查找。除此之外，八叉树还支持体素查找，这是额外的一种查找方法。

3、准备CMakeLists.txt文件

cmake_minimum_required(VERSION 3.5 FATAL_ERROR)project(octree_search)find_package(PCL 1.2 REQUIRED)include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})add_executable (octree_search octree_search.cpp)
target_link_libraries (octree_search ${PCL_LIBRARIES})

4、生成sln文件，准备编译

用cmake生成文件之后就可以开始编译了。

5、准备执行octree_search.exe，

执行过程中，可能会出现缺少dll的情况，像这样，

补全dll后，就可以正常执行exe文件了，

3d激光雷达开发（八叉树）

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