Octree索引(体素近邻搜索,K近邻搜索,半径内近邻搜索)------PCL

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于 2024-04-14 00:11:12 发布

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分类专栏： PCL 文章标签： Octree pcl

本文链接：https://blog.youkuaiyun.com/mankeywang/article/details/137728164

体素近邻搜索

/// <summary>
/// octree 体素近邻搜索
/// </summary>
/// <param name="cloud">索引点云</param>
/// <param name="searchPoint">索引点</param>
/// <param name="resolution">分辨率</param>
/// <returns>返回所有点编号数组</returns>
std::vector<int> PclTool::octreeVoxelSearch(const pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, const pcl::PointXYZ searchPoint, const float resolution)
{
   
   
    pcl::octree::OctreePointCloudSearch<pcl::PointXYZ> octree(resolution);  // 初始化Octree
    octree.setInputCloud(cloud);        // 设置输入点云 
    octree.addPointsFromInputCloud();