For the convenience of data processing, custom me a little bit of type of point cloud, and then using kdtreeFlann neighbor search, but the following problems



The complete code is as follows, hope heavyweight directions, I was a novice c + +

 
#include 
#include//PCD, speaking, reading and writing class header file, 
#include//photo support some type of header files, 
#include 
#include  
#include 
#include 

Using namespace STD. 

Struct PointWithLabel {
PCL_ADD_POINT4D; 
Int the label; 
EIGEN_MAKE_ALIGNED_OPERATOR_NEW 
} EIGEN_ALIGN16; 
POINT_CLOUD_REGISTER_POINT_STRUCT (PointWithLabel, 
(float, x, x) 
(float, y, y) 
(float, z, z) 
(int, label, label) 
) 
Int main () {

//photo: : PointXYZ ins; 
Photo: : PointCloud : : Ptr cloud (new photo: : PointCloud//photo: : PointCloud Cloud; 
Char strfilepath [256]="label. The PCD"; 
If (1==PCLS: : IO: : loadPCDFile (strfilepath, * cloud))//open the point cloud file 
{
Cout & lt; <"Error input!" return -1; 
} 
for (int i=0; i <10; I++) {
Cout & lt; <"" & lt; <"" & lt; <"" & lt; <"" & lt; } 
Photo: : KdTreeFLANN & lt; PointWithLabel & gt; Kdtree;//create a KDtree 

Kdtree. SetInputCloud (cloud); 

PointWithLabel searchPoint;//create the target point, search point (neighbour) 
SearchPoint. X=cloud - & gt; Points [100]. X; 
SearchPoint. Y=cloud - & gt; Points [100]. Y; 
SearchPoint. Z=cloud - & gt; Points [100]. Z; 
SearchPoint. Label=cloud - & gt; Points [100]. The label; 

//the number of query neighbor points 
Int k=10;//the number of neighbor points 
STD: : vector PointIdxNKNSearch (k);//store near point set index 
STD: : vector PointNKNSquareDistance (k);//near the distance of the point set 
If (kdtree. NearestKSearch (searchPoint, k, pointIdxNKNSearch pointNKNSquareDistance) & gt; 0) 
{
For (size_t I=0; i STD: : cout & lt; <"" & lt; <"" & lt; <"" & lt; //& lt; <"" & lt; <"(squared short:" & lt; } 
system("pause"); 
return 0; 


} 

CodePudding user response:

CodePudding user response:

# define PCL_NO_PRECOMPILE
In the file header and the macro
If your code is part of the library, which gets 2 by others, it took also make sense to try to use explicit instantiations for MyPointType types, for any classes that expose (from PCLS our outside PCLS).

CodePudding user response:

As if can't use their definition of point cloud types using kdtree