Project1.zip

本例子是自己捣鼓了两天半才搞定的资源，最后使用Cmake的编译，才最终成功。代码上可能有些是绝对路径，下载的朋友只需要将路径改为自己安装PCL的路径即可，另外，建议初学者在安装PCL的时候不做路径的修改，直接安装到默认的文件夹即可，本人就是因为修改路径，导致多次出错。

#include 
#include 

#include 
#include 
#include 

int main（int argc char** argv）
{
	srand（time（NULL））; //用系统时间初始化随机种子

	pcl::PointCloud::Ptr cloud（new pcl::PointCloud）;

	// Generate pointcloud data 随机点云生成
	cloud->width = 1000; //点云数量
	cloud->height = 1; //点云为无序点云
	cloud->points.resize（cloud->width * cloud->height）;

	for （size_t i = 0; i < cloud->points.size（）; ++i） //循环填充点云数据
	{
		cloud->points[i].x = 1024.0f * rand（） / （RAND_MAX + 1.0f）;
		cloud->points[i].y = 1024.0f * rand（） / （RAND_MAX + 1.0f）;
		cloud->points[i].z = 1024.0f * rand（） / （RAND_MAX + 1.0f）;
	}

	pcl::KdTreeFLANN kdtree; //创建kd-tree

	kdtree.setInputCloud（cloud）; //设置搜索空间

	pcl::PointXYZ searchPoint;		//定义查询点并赋随机值
	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）;

	// K nearest neighbor search k 近邻搜索
	int K = 10;
	std::vector pointIdxNKNSearch（K）;
	std::vector 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） //执行k近邻搜索
	{
		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;
	}

	// Neighbors within radius search 半径r内近邻搜索方式

	std::vector pointIdxRadiusSearch; //存储近邻索引
	std::vector pointRadiusSquaredDistance; //存储近邻对应的距离平方
	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 （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;
	}
	system（“pause“）;
	return 0;
}

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2019-12-02 17:43  Project1\
     目录           0  2019-12-02 17:43  Project1\.vs\
     目录           0  2019-12-02 17:43  Project1\.vs\Project1\
     目录           0  2019-12-02 17:43  Project1\.vs\Project1\v15\
     文件       24576  2019-12-02 16:36  Project1\.vs\Project1\v15\.suo
     文件     5464064  2019-12-02 16:36  Project1\.vs\Project1\v15\Browse.VC.db
     目录           0  2019-12-02 17:43  Project1\.vs\Project1\v15\ipch\
     目录           0  2019-12-02 17:43  Project1\.vs\Project1\v15\ipch\AutoPCH\
     目录           0  2019-12-02 17:43  Project1\.vs\Project1\v15\ipch\AutoPCH\8e3285934654fb92\
     文件    33357824  2019-12-01 21:21  Project1\.vs\Project1\v15\ipch\AutoPCH\8e3285934654fb92\KD_TREE.ipch
     目录           0  2019-12-02 17:43  Project1\.vs\Project1\v15\ipch\AutoPCH\e096050e3b828a1\
     文件    33947648  2019-12-02 16:36  Project1\.vs\Project1\v15\ipch\AutoPCH\e096050e3b828a1\KD_TREE.ipch
     文件         303  2019-12-02 16:35  Project1\CMakeLists
     文件         303  2019-12-02 13:30  Project1\CMakeLists.txt
     目录           0  2019-12-02 17:43  Project1\cmake_bin\
     目录           0  2019-12-02 17:43  Project1\cmake_bin\.vs\
     目录           0  2019-12-02 17:43  Project1\cmake_bin\.vs\Kd_tree\
     目录           0  2019-12-02 17:43  Project1\cmake_bin\.vs\Kd_tree\v15\
     文件       34304  2019-12-02 16:39  Project1\cmake_bin\.vs\Kd_tree\v15\.suo
     文件    72372224  2019-12-02 16:34  Project1\cmake_bin\.vs\Kd_tree\v15\Browse.VC.db
     文件          58  2019-12-02 16:37  Project1\cmake_bin\.vs\Kd_tree\v15\Browse.VC.opendb
     目录           0  2019-12-02 17:43  Project1\cmake_bin\.vs\Kd_tree\v15\ipch\
     目录           0  2019-12-02 17:43  Project1\cmake_bin\.vs\Kd_tree\v15\ipch\AutoPCH\
     目录           0  2019-12-02 17:43  Project1\cmake_bin\.vs\Kd_tree\v15\ipch\AutoPCH\7f42d19b7186464c\
     文件   186646528  2019-12-02 16:38  Project1\cmake_bin\.vs\Kd_tree\v15\ipch\AutoPCH\7f42d19b7186464c\KD_TREE.ipch
     文件      790528  2019-12-02 13:38  Project1\cmake_bin\.vs\Kd_tree\v15\Solution.VC.db
     文件       32768  2019-12-02 16:37  Project1\cmake_bin\.vs\Kd_tree\v15\Solution.VC.db-shm
     文件       12392  2019-12-02 16:37  Project1\cmake_bin\.vs\Kd_tree\v15\Solution.VC.db-wal
     文件       60904  2019-12-02 13:32  Project1\cmake_bin\ALL_BUILD.vcxproj
     文件         291  2019-12-02 13:32  Project1\cmake_bin\ALL_BUILD.vcxproj.filters
     文件         165  2019-12-02 13:34  Project1\cmake_bin\ALL_BUILD.vcxproj.user
............此处省略108个文件信息