写C++代码将YOLOV5返回多个类坐标存节点用A星寻路

好的，我可以为您提供一些参考代码来完成这个任务。首先，我们需要将YOLOV5返回的多个类坐标存储在节点中，这可以通过以下代码实现：

struct Node {
    int x;
    int y;
    vector<float> classes;
};

vector<Node> nodes;

// 调用YOLOV5并将返回的坐标和类存储在节点中
void getNodes() {
    // 调用YOLOV5并返回坐标和类
    vector<pair<pair<int, int>, vector<float>>> results = callYOLOV5();

    // 将坐标和类存储在节点中
    for (auto result : results) {
        Node node;
        node.x = result.first.first;
        node.y = result.first.second;
        node.classes = result.second;
        nodes.push_back(node);
    }
}

接下来，我们可以使用A*算法来寻路。以下是一个简单的A*算法实现：

struct Point {
    int x;
    int y;
};

// 计算两点之间的曼哈顿距离
int manhattanDistance(Point a, Point b) {
    return abs(a.x - b.x) + abs(a.y - b.y);
}

// A*搜索算法
vector<Point> AStarSearch(Point start, Point end) {
    map<Point, Point> cameFrom;
    map<Point, int> costSoFar;
    priority_queue<pair<int, Point>, vector<pair<int, Point>>, greater<pair<int, Point>>> frontier;

    frontier.push(make_pair(0, start));
    cameFrom[start] = start;
    costSoFar[start] = 0;

    while (!frontier.empty()) {
        Point current = frontier.top().second;
        frontier.pop();

        if (current.x == end.x && current.y == end.y) {
            break;
        }

        vector<Point> neighbors = getNeighbors(current);

        for (Point next : neighbors) {
            int newCost = costSoFar[current] + manhattanDistance(current, next);
            if (!costSoFar.count(next) || newCost < costSoFar[next]) {
                costSoFar[next] = newCost;
                int priority = newCost + manhattanDistance(next, end);
                frontier.push(make_pair(priority, next));
                cameFrom[next] = current;
            }
        }
    }

    vector<Point> path;
    Point current = end;
    while (current.x != start.x || current.y != start.y) {
        path.push_back(current);
        current = cameFrom[current];
    }
    path.push_back(start);
    reverse(path.begin(), path.end());

    return path;
}

在上面的代码中，我们使用了一个结构体 `Point` 表示一个节点的坐标。 `getNeighbors` 函数返回一个节点的邻居节点列表。 `AStarSearch` 函数返回从起点到终点的最短路径。

那么将YOLOV5返回的多个类坐标存储到节点中，并使用A*算法进行寻路的完整代码如下：

#include <bits/stdc++.h>
using namespace std;

struct Node {
    int x;
    int y;
    vector<float> classes;
};

vector<Node> nodes;

struct Point {
    int x;
    int y;
};

// 计算两点之间的曼哈顿距离
int manhattanDistance(Point a, Point b) {
    return abs(a.x - b.x) + abs(a.y - b.y);
}

// A*搜索算法
vector<Point> AStarSearch(Point start, Point end) {
    map<Point, Point> cameFrom;
    map<Point, int> costSoFar;
    priority_queue<pair<int, Point>, vector<pair<int, Point>>, greater<pair<int, Point>>> frontier;

    frontier.push(make_pair(0, start));
    cameFrom[start] = start;
    costSoFar[start] = 0;

    while (!frontier.empty()) {
        Point current = frontier.top().second;
        frontier.pop();

        if (current.x == end.x && current.y == end.y) {
            break;
        }

        vector<Point> neighbors = getNeighbors(current);

        for (Point next : neighbors) {
            int newCost = costSoFar[current] + manhattanDistance(current, next);
            if (!costSoFar.count(next) || newCost < costSoFar[next]) {
                costSoFar[next] = newCost;
                int priority = newCost + manhattanDistance(next, end);
                frontier.push(make_pair(priority, next));
                cameFrom[next] = current;
            }
        }
    }

    vector<Point> path;
    Point current = end;
    while (current.x != start.x || current.y != start.y) {
        path.push_back(current);
        current = cameFrom[current];
    }
    path.push_back(start);
    reverse(path.begin(), path.end());

    return path;
}

// 调用YOLOV5并将返回的坐标和类存储在节点中
void getNodes() {
    // 调用YOLOV5并返回坐标和类
    vector<pair<pair<int, int>, vector<float>>> results = callYOLOV5();

    // 将坐标和类存储在节点中
    for (auto result : results) {
        Node node;
        node.x = result.first.first;
        node.y = result.first.second;
        node.classes = result.second;
        nodes.push_back(node);
    }
}

// 获取一个节点的邻居节点列表
vector<Point> getNeighbors(Point node) {
    vector<Point> neighbors;
    for (Node n : nodes) {
        if (n.x == node.x && n.y == node.y) {
            continue;
        }
        neighbors.push_back({n.x, n.y});
    }
    return neighbors;
}

int main() {
    // 获取节点
    getNodes();

    // 设置起点和终点
    Point start = {0, 0};
    Point end = {10, 10};

    // 寻路
    vector<Point> path = AStarSearch(start, end);

    // 输出路径
    for (Point p : path) {
        cout << "(" << p.x << ", " << p.y << ") ";
    }
    cout << endl;

    return 0;
}

请注意，上面的代码只是一个示例，您需要根据您的实际情况进行修改和调整。