Search-Octree-PCL-Cpp (70%)

PCL-CPP 기반 Octree 탐색

코드는 [이곳]에서 다운로드 가능합니다. 샘플파일은 [cloud_cluster_0.pcd]을 사용하였습니다.

#include <pcl/io/pcd_io.h> 
#include <pcl/octree/octree_search.h>  
#include <pcl/visualization/cloud_viewer.h>  
#include <pcl/point_types.h>  

#include <iostream>
#include <vector>

//Spatial Partitioning and Search Operations with Octrees
//http://pointclouds.org/documentation/tutorials/octree.php#octree-search
//Commnets : Hunjung, Lim ([e-mail])

int main()
{

    pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);

     // *.PCD 파일 읽기 (https://raw.githubusercontent.com/adioshun/gitBook_Tutorial_PCL/master/Intermediate/sample/cloud_cluster_0.pcd)
    pcl::io::loadPCDFile<pcl::PointXYZRGB>("cloud_cluster_0.pcd", *cloud);

     // 시각적 확인을 위해 색상 통일 (255,255,255)
    for (size_t i = 0; i < cloud->points.size(); ++i){
        cloud->points[i].r = 255;
        cloud->points[i].g = 255;
        cloud->points[i].b = 255;
    }

    //Octree 오브젝트 생성 
    float resolution = 0.03f; //복셀 크기 설정(Set octree voxel resolution)
    pcl::octree::OctreePointCloudSearch<pcl::PointXYZRGB> octree(resolution); 
    octree.setInputCloud(cloud);       // 입력 
    octree.addPointsFromInputCloud();  //Octree 생성 (Build Octree)

    //기준점(searchPoint) 설정 방법 #1(x,y,z 좌표 지정)
    //pcl::PointXYZRGB searchPoint;
    //searchPoint.x = 0.026256f;
      //searchPoint.y = -1.464739f;
      //searchPoint.z = 0.929567f;

    //기준점(searchPoint) 설정 방법 #2(3000번째 포인트)
    pcl::PointXYZRGB searchPoint = cloud->points[3000]; 

     //기준점 좌표 출력 
     std::cout << "searchPoint :" << searchPoint.x << " " << searchPoint.y << " " << searchPoint.z  << std::endl;

     //기준점과 동일한 복셀내 존재 하는 하는 포인트 탐색(Voxel Neighbor Search)
    std::vector<int> pointIdxVec;  //결과물 포인트의 Index 저장(Save the result vector of the voxel neighbor search) 

    if (octree.voxelSearch(searchPoint, pointIdxVec))
    {
        //시각적 확인을 위하여 색상 변경 (255,0,0)
        for (size_t i = 0; i < pointIdxVec.size(); ++i){
            cloud->points[pointIdxVec[i]].r = 255;
            cloud->points[pointIdxVec[i]].g = 0;
            cloud->points[pointIdxVec[i]].b = 0;
        }        
    }

    // 기준점에서 가까운 순서중 K번째까지의 포인트 탐색 (K nearest neighbor search)
    int K = 50;   // 탐색할 포인트 수 설정 
    std::vector<int> pointIdxNKNSearch; //Save the index result of the K nearest neighbor
    std::vector<float> pointNKNSquaredDistance;  //Save the index result of the K nearest neighbor

    if (octree.nearestKSearch(searchPoint, K, pointIdxNKNSearch, pointNKNSquaredDistance) > 0)
    {   
          //시각적 확인을 위하여 색상 변경 (0,255,0)
        for (size_t i = 0; i < pointIdxNKNSearch.size(); ++i){
            cloud->points[pointIdxNKNSearch[i]].r = 0;
            cloud->points[pointIdxNKNSearch[i]].g = 255;
            cloud->points[pointIdxNKNSearch[i]].b = 0;
        }    
    }

     // 탐색된 점의 수 출력 
    std::cout << "K = 50 nearest neighbors:" << pointIdxNKNSearch.size() << endl;

    //기준점에서 지정된 반경내 포인트 탐색 (Neighbor search within radius)
    float radius = 0.02; //탐색할 반경 설정(Set the search radius)
     std::vector<int> pointIdxRadiusSearch;  //Save the index of each neighbor
    std::vector<float> pointRadiusSquaredDistance;  //Save the square of the Euclidean distance between each neighbor and the search point

    if (octree.radiusSearch(searchPoint, radius, pointIdxRadiusSearch, pointRadiusSquaredDistance) > 0)
    {    
          //시각적 확인을 위하여 색상 변경 (0,0,255)
        for (size_t i = 0; i < pointIdxRadiusSearch.size(); ++i){
            cloud->points[pointIdxRadiusSearch[i]].r = 0;
            cloud->points[pointIdxRadiusSearch[i]].g = 0;
            cloud->points[pointIdxRadiusSearch[i]].b = 255;
        }        
    }

     // 탐색된 점의 수 출력 
    std::cout << "Radius 0.02 nearest neighbors: " << pointIdxRadiusSearch.size() << endl;

     // 생성된 포인트클라우드 저장 
    pcl::io::savePCDFile<pcl::PointXYZRGB>("Octree_AllinOne.pcd", *cloud);
}

결과

searchPoint :0.0346006 -1.46636 0.975463
K = 50 nearest neighbors:50
Radius 0.02 nearest neighbors: 141

참고위치	결과

각 기능별 코드 3개

1. Neighbors within voxel search

코드는 [이곳]에서 다운로드 가능합니다. 샘플파일은 [cloud_cluster_0.pcd]을 사용하였습니다.

#include <pcl/point_cloud.h>
#include <pcl/io/pcd_io.h>
#include <pcl/octree/octree_search.h>

#include <iostream>
#include <vector>
#include <ctime>

int
main (int argc, char** argv)
{

  pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);
  pcl::io::loadPCDFile<pcl::PointXYZRGB>("cloud_cluster_0.pcd", *cloud);

  float resolution = 128.0f;
  pcl::octree::OctreePointCloudSearch<pcl::PointXYZRGB> octree (resolution);
  octree.setInputCloud (cloud);
  octree.addPointsFromInputCloud ();

  pcl::PointXYZRGB searchPoint;
  searchPoint.x = 0.026256f;
  searchPoint.y = -1.464739f;
  searchPoint.z = 0.929567f;

  // Neighbors within voxel search
  std::vector<int> pointIdxVec;

  if (octree.voxelSearch (searchPoint, pointIdxVec))
  {
    std::cout << "Neighbors within voxel search at (" << searchPoint.x 
     << " " << searchPoint.y 
     << " " << searchPoint.z << ")" 
     << std::endl;

    for (size_t i = 0; i < pointIdxVec.size (); ++i)
   std::cout << "    " << cloud->points[pointIdxVec[i]].x 
       << " " << cloud->points[pointIdxVec[i]].y 
       << " " << cloud->points[pointIdxVec[i]].z << std::endl;
  }


}

결과

...
-0.00606756 -1.46653 0.797328
-0.00904433 -1.46755 0.796737
-0.0120327 -1.46887 0.795969
...

2. K nearest neighbor search

코드는 [이곳]에서 다운로드 가능합니다. 샘플파일은 [cloud_cluster_0.pcd]을 사용하였습니다.

#include <pcl/point_cloud.h>
#include <pcl/io/pcd_io.h>
#include <pcl/octree/octree_search.h>

#include <iostream>
#include <vector>
#include <ctime>

int
main (int argc, char** argv)
{

  pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);
  pcl::io::loadPCDFile<pcl::PointXYZRGB>("cloud_cluster_0.pcd", *cloud);

  float resolution = 128.0f;
  pcl::octree::OctreePointCloudSearch<pcl::PointXYZRGB> octree (resolution);
  octree.setInputCloud (cloud);
  octree.addPointsFromInputCloud ();

  pcl::PointXYZRGB searchPoint;
  searchPoint.x = 0.026256f;
  searchPoint.y = -1.464739f;
  searchPoint.z = 0.929567f;

  // K nearest neighbor search

  int K = 10;

  std::vector<int> pointIdxNKNSearch;
  std::vector<float> pointNKNSquaredDistance;

  std::cout << "K nearest neighbor search at (" << searchPoint.x 
            << " " << searchPoint.y 
            << " " << searchPoint.z
            << ") with K=" << K << std::endl;

  if (octree.nearestKSearch (searchPoint, K, pointIdxNKNSearch, pointNKNSquaredDistance) > 0)
  {
    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;
  }


}

결과

K nearest neighbor search at (0.026256 -1.46474 0.929567) with K=10
0.0262559 -1.46474 0.929567 (squared distance: 3.69042e-13)
0.0234182 -1.46435 0.929759 (squared distance: 8.24415e-06)
0.0290953 -1.46517 0.929357 (squared distance: 8.28962e-06)
0.0262519 -1.46476 0.932708 (squared distance: 9.86657e-06)
0.0262599 -1.46472 0.926419 (squared distance: 9.90814e-06)
0.0290885 -1.46518 0.932502 (squared distance: 1.68363e-05)
0.0234196 -1.46433 0.926612 (squared distance: 1.69452e-05)
0.0234169 -1.46437 0.932899 (squared distance: 1.93018e-05)
0.029102 -1.46515 0.926206 (squared distance: 1.95655e-05)
0.0205821 -1.46402 0.929919 (squared distance: 3.28378e-05)

3. Neighbors within radius search

코드는 [이곳]에서 다운로드 가능합니다. 샘플파일은 [cloud_cluster_0.pcd]을 사용하였습니다.

#include <pcl/point_cloud.h>
#include <pcl/io/pcd_io.h>
#include <pcl/octree/octree_search.h>

#include <iostream>
#include <vector>
#include <ctime>

int
main (int argc, char** argv)
{

  pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);
  pcl::io::loadPCDFile<pcl::PointXYZRGB>("cloud_cluster_0.pcd", *cloud);

  float resolution = 128.0f;
  pcl::octree::OctreePointCloudSearch<pcl::PointXYZRGB> octree (resolution);
  octree.setInputCloud (cloud);
  octree.addPointsFromInputCloud ();

  pcl::PointXYZRGB searchPoint;
  searchPoint.x = 0.026256f;
  searchPoint.y = -1.464739f;
  searchPoint.z = 0.929567f;

  // Neighbors within radius search

  std::vector<int> pointIdxRadiusSearch;
  std::vector<float> pointRadiusSquaredDistance;

  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 (octree.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;
  }


}

결과

...
-0.00606756 -1.46653 0.797328
-0.00904433 -1.46755 0.796737
-0.0120327 -1.46887 0.795969
...