写一段C++代码,用PCL的kdtree找最近点的距离
时间: 2023-05-22 08:01:30 浏览: 51
以下是一段使用PCL的kdtree查找最近点距离的C代码:
```
#include <iostream>
#include <pcl/point_types.h>
#include <pcl/kdtree/kdtree_flann.h>
int main()
{
// 创建点云
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
cloud->width = 5;
cloud->height = 1;
cloud->points.resize(cloud->width * cloud->height);
// 填充点云
for (size_t i = 0; i < cloud->points.size(); ++i)
{
cloud->points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
cloud->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
cloud->points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
}
// 创建kdtree对象
pcl::KdTreeFLANN<pcl::PointXYZ> kdtree;
kdtree.setInputCloud(cloud);
// 查找最近点
pcl::PointXYZ searchPoint;
searchPoint.x = 1024 * rand() / (RAND_MAX + 1.0f);
searchPoint.y = 1024 * rand() / (RAND_MAX + 1.0f);
searchPoint.z = 1024 * rand() / (RAND_MAX + 1.0f);
int K = 1;
std::vector<int> pointIdxNKNSearch(K);
std::vector<float> pointNKNSquaredDistance(K);
if (kdtree.nearestKSearch(searchPoint, K, pointIdxNKNSearch, pointNKNSquaredDistance) > 0)
{
std::cout << "最近点距离: " << sqrt(pointNKNSquaredDistance[0]) << std::endl;
}
return 0;
}
```