35 #include <nrt/config.h>
42 int main(
int argc,
char ** argv )
48 for(
size_t i = 0; i < 10; ++i )
56 NRT_INFO(
"Found " << result.size() <<
" neighbors: " );
57 for(
size_t i = 0; i < result.size(); ++i )
58 NRT_INFO( result[i].first <<
": " << result[i].second <<
": " << cloud[result[i].first] );
62 NRT_INFO(
"Found " << result.size() <<
" neighbors: " );
63 for(
size_t i = 0; i < result.size(); ++i )
64 NRT_INFO( result[i].first <<
": " << result[i].second <<
": " << cloud[result[i].first] );
68 NRT_INFO(
"Found " << result.size() <<
" neighbors: " );
69 for(
size_t i = 0; i < result.size(); ++i )
70 NRT_INFO( result[i].first <<
": " << result[i].second <<
": " << cloud[result[i].first] );
74 NRT_INFO(
"Found " << result.size() <<
" neighbors: " );
75 for(
size_t i = 0; i < result.size(); ++i )
76 NRT_INFO( result[i].first <<
": " << result[i].second <<
": " << cloud[result[i].first] );
82 cloud.
insertSparse( 1, StreamableGenericBag<double>(3.0) );
83 cloud.
insertSparse( 2, StreamableGenericBag<double>(-11.0) );
84 cloud.
insertSparse( 5, StreamableGenericBag<double>(7.0) );
85 cloud.
insertSparse( 3, StreamableGenericBag<double>(6.0) );
88 search.rebuild( cloud );
91 result = search.knn( 3.7, 5 );
93 NRT_INFO(
"Found " << result.size() <<
" neighbors: " );
94 for(
size_t i = 0; i < result.size(); ++i )
95 NRT_INFO( result[i].first <<
": " << result[i].second <<
": " << cloud.
at<
double>(result[i].first) );
98 result = search.radius( 0.0, 10 );
99 NRT_INFO(
"Found " << result.size() <<
" neighbors: " );
100 for(
size_t i = 0; i < result.size(); ++i )
101 NRT_INFO( result[i].first <<
": " << result[i].second <<
": " << cloud.
at<
double>(result[i].first) );
104 std::cout <<
"---------------" << std::endl;
105 result = search.knn( 3.7, 5, flann::L2<PointCloud2::BaseType>() );
106 NRT_INFO(
"Found " << result.size() <<
" neighbors: " );
107 for(
size_t i = 0; i < result.size(); ++i )
108 NRT_INFO( result[i].first <<
": " << result[i].second <<
": " << cloud.
at<
double>(result[i].first) );
111 int main(
int argc,
char ** argv )
115 #endif // NRT_HAVE_CLOUD