pcl之kdtree的使用

A k-d tree, or k-dimensional tree, is a data structure used in computer science for organizing some number of points in a space with k dimensions. It is a binary search tree with other constraints imposed on it. K-d trees are very useful for range and nearest neighbor searches.

#include 
    
     #include 
     
      #include 
      
       #include 
       
        int main(int argc, char** argv){  pcl::PointCloud
        
         ::Ptr cloud(new pcl::PointCloud
         
          ); .... pcl::KdTreeFLANN
          
            kdtree; kdtree.setIputCloud(cloud); pcl::PointXYZI search_point; .... // k nearest neighbor search int k = 10; std::vector
           
             k_indices(k); std::vector
            
              k_sqr_distances(k;) if (kdtree.nearestKSearch(search_point, k, k_indices, k_sqr_distances) > 0) { //do something } // neighbors within radius search float radius = 1.0; std::vector
             
               std::vector
              
                if (kdtree.radiusSearch(search_point, radius, radius_indices, radius_sqr_distance) > 0) { //do something }}
              
             
            
           
          
         
        
       
      
     
    

值得注意的是： 返回的是square_distance

参考