PCL学习（3）——kdtree搜索（error C2079: “pcl::KdTreeFLANN::param_radius_）

 

 

 

 

  代码如下，其实就是照着教程自己敲进去，不过就这样，也会出不少错，当然只有这样才能进步，各位小伙伴最好别直接复制粘贴，有时间还是敲代码比较好！

#include<pcl\kdtree\kdtree_flann.h>
#include<pcl\point_cloud.h>
#include<pcl\point_types.h>    //用来定义点云类型
#include<pcl\io\io.h>
#include<iostream>
#include<ctime>
#include<vector>
using namespace std;

int main() 
{
	srand(time(NULL));
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);//初始点云对象
	cloud->width = 100;
	cloud->height = 1;
	cloud->resize(cloud->width*cloud->height);
	for (int i = 0; i < cloud->width*cloud->height; i++) //随机数填充点云数据
	{
		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);
	}
	pcl::KdTreeFLANN<pcl::PointXYZ>kdtree; //创建kdtree搜索对象
	kdtree.setInputCloud(cloud);           //载入点云
	pcl::PointXYZ searchPoint;              //设置查询点并赋随机值
	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);
	int K = 10;                             //搜索最近邻的点数
	vector<int>pointIdxNKNSearch(K);        //存放最近邻点的索引
	vector<float>pointNKNSquaredDistance(K);//对应的距离平方
	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)
	{
		for (int i=0; i < pointIdxNKNSearch.size(); ++i)
		{
			cout << "  " << cloud->points[pointIdxNKNSearch[i]].x
				 << "  " << cloud->points[pointIdxNKNSearch[i]].y
				 << "  " << cloud->points[pointIdxNKNSearch[i]].z
				<< " (squared distance: " << pointNKNSquaredDistance[i] << ")" << endl;
		}
	}
	// 在半径r内搜索近邻
	std::vector<int> pointIdxRadiusSearch;
	std::vector<float> pointRadiusSquaredDistance;
	float radius = 256.0f* rand() / (RAND_MAX + 1.0f); //定义搜索半径
	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;
}

说几点自己在敲代码过程中遇到的问题：生成解决文件失败：

error C2079: “pcl::KdTreeFLANN::param_radius_”使用未定义的 struct“flann::SearchParams”

解决方法：

PCL版本为1.8.1

我的问题出在了包含目录设置上。具体解决方案是在 属性->C++目录->包含目录 中。

一开始包含目录的路径为D:\PCL 1.8.1\3rdParty\FLANN\include\flann

请把它改为：D:\PCL 1.8.1\3rdParty\FLANN\include，如下图所示：