kd-tree理论以及在PCL 中的代码的实现
(小技巧记录:博客园编辑的网页界面变小了使用Ctrl ++来变大网页字体)
通过雷达,激光扫描,立体摄像机等三维测量设备获取的点云数据,具有数据量大,分布不均匀等特点,作为三维领域中一个重要的数据来源,点云主要是表征目标表面的海量点的集合,并不具备传统网格数据的几何拓扑信息,所以点云数据处理中最为核心的问题就是建立离散点间的拓扑关系,实现基于邻域关系的快速查找。
k-d树 (k-dimensional树的简称),是一种分割k维数据空间的数据结构。主要应用于多维空间关键数据的搜索(如:范围搜索和最近邻搜索)。K-D树是二进制空间分割树的特殊的情况。用来组织表示K维空间中点的几何,是一种带有其他约束的二分查找树,为了达到目的,通常只在三个维度中进行处理因此所有的kd_tree都将是三维的kd_tree,kd_tree的每一维在指定维度上分开所有的字节点,在树 的根部所有子节点是以第一个指定的维度上被分开。
k-d树算法可以分为两大部分,一部分是有关k-d树本身这种数据结构建立的算法,另一部分是在建立的k-d树上如何进行最邻近查找的算法。
构建算法
k-d树是一个二叉树,每个节点表示一个空间范围。表1给出的是k-d树每个节点中主要包含的数据结构。
域名
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数据类型
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描述
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Node-data
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数据矢量
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数据集中某个数据点,是n维矢量(这里也就是k维)
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Range
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空间矢量
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该节点所代表的空间范围
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split
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整数
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垂直于分割超平面的方向轴序号
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Left
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k-d树
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由位于该节点分割超平面左子空间内所有数据点所构成的k-d树
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Right
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k-d树
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由位于该节点分割超平面右子空间内所有数据点所构成的k-d树
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parent
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k-d树
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父节点
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先以一个简单直观的实例来介绍k-d树算法。假设有6个二维数据点{(2,3),(5,4),(9,6),(4,7),(8,1),(7,2)},数据点 位于二维空间内(如图1中黑点所示)。k-d树算法就是要确定图1中这些分割空间的分割线(多维空间即为分割平面,一般为超平面)。下面就要通过一步步展 示k-d树是如何确定这些分割线的。
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6zglLFFmHKTwWIhHv4EqEE9qI+IZmuwW2H88/VwTBvkbPSoj+3adjW9JM3W+x7OMSvttHhuxzsi31+2qrRC3xwdrt2akIiP/1+2Htc5NlDO/vZbZ9ylBsNGmJjtz9lOezcIPMmxhgopYdtTbY473nPu0yUsxfc6Cf+rHT5defzFnW3KSsLKz3iT57sYcC1iWcoI7AFp6ggsMqyh66fNzEo3GyKIbhKMPVb5D00xFoiiUIfq+6n7VSTGGPJuxadqZAJUHIaJUjlG8EkHD/Bn4rLyelYfJPQKDEmVNpFyMmJT0th3sQYM11+YhSHNcZ+LrbWNastUd515mmHtN+hg0vO5ic+ruyLj9TZwzXG7/3e7xGPuewQtPI0YuxnPMybGFxVWRU39jf/+q//OousG4X7hm98uN71rufzyU2liNfEYIdytsYo5npXaodP4pfZ4WY3u5k9bvWRtEQVHjusJsuEDD7vdu3grTCoauc73/mUsT102GobHb5rWmyx5Gjx3QO13eplTG6+6qetYo7MTa4OC79DiB+KqCnjc+jM2MozgXco2GHWk40YLfXGms8/JzzucY97xSte0V5NG1O2EfNfblssGC1hD8u3n5DyXCBW8GinvUNRicGwpHK+2tWupsG2O5Qn1mMux7kkFBvebhybeGPNvYdZQf7JEiM922QwlHPPrW51q4c97GEWgs19MxPr9BYqoKPdOhDd93ZUPRxh4s/fcD7mMY8ZibHbxC4Nygey+eC5RNU4LPl2ILnY9LJFdslAnrZeMlrrIvI0CdyOYMfnMs1UiiFMJMbXmq0lHNLDSuujH/3ohS98YTZqvvFDP/RDNhO/8Au/8O53v7tS8Xd/93faxGWs/awcR5qymKMdT/OrnN/t52rIIzcS5rWvfe0f//EfS1SRtyuTtvTCvZ0xwsgNnyH0e/SW2gVMZXFXQh7p2QGcJjEaLgQH95jj+hHPD//wD1/mMpe5z33uc81rXhMz6y0zSwb6ru/6Lj8x89s3QI/8yorMJMJ2WORWm+nAXWnM94Sv+LW60N7VBkt2qzBd9apX5YUxUVlLr6mQVQqlsJ9PcXri+Yct3641hvSMDy9DXDkzFd8J6Uwz2ipOrCAyNOw+kU96+DvjN7zhDZ4Q+2JflcM2ov+X8R9tLFU5YZfWr82PJ1RsVlLNCr78y7+81YUzf+8qK2jKho4KE9m+6Zu+yWWru1ntsIx4EwRO9+SKWbKMfz/7ju/4DlnRm5fNEVz2NcdlpHYFnyYxuIEt6K9UiPVnP/vZr371q1nBnxq/6lWvkipuGRZ8DEGS8JwS67JE6ixPmijvyhBr8ZX//ujxBje4wQjKtbpPjsykLJ8lmdoHr0B2ux+QN00NSNJKwycS/QEdOY1mydZ4K3ImN8jJCU6TGJRXn8Q6JYX4jW98Y5I95SlPMVx84zd+o3aTJbekjSO5Gzc4Ul6BjE2Mk2s1NwVe59qynRYOlY+Oc/NdRt9w3VceCzXiMXJ1elmXueEigRjJwzjMxUoWnGpiYeAy1+9WzmV2mCYxZAVtW3+LcoZ4/etff4lLXOI5z3nOV3zFV+DtFjjrGDEUDG4DaRcFsFTZ7bR4mYGOhJPZAvc1r3kNLTj4rInMxz82fiT+3ECTltJSkPUGIWPuMFHLB/4lj3YljzyytyLYoKEtefZzpjBNYsiKBsfqljhgEfOoGs5KmgCC491Pl+VA1gFsMN1C5SiC88RJXIKO/TR/6lXEI0W7uaN/BX3ysF569YNv4diWwIpe893KlXlZO/+Sx3d9Rh3E/ayxdpd2W2GB2cViCA5jnbYgOKy11wqZ5ruVJ8phkhDJeUztjs9XL16nl4jUvUa18PhEJsSkFwtnamS1C80JWUxCSoZUH1ErjcmcOyahPyGReROjIZW4wohF2EVjh1v+i6OEUY4wAqjCtpZNdTFiOJpBNWneYSwOO1d9Ghh3uCu12pgHMqEMWd1l+3eneY6xTO5M0LkJpf8Cb6diWZdZ4aOmVt25pNq/btHS/VKXuhRFpER79rICtXXpTKXsyEnyOBoY93CWsvj7zWxVqdqV3VbYf94RYyjcJJgcnojv0ApjxNAY048N5NHXYql/NBaI9Oq8wtBz36ru0IVszQ93OLVbpqz1N6kWUwLmBvZfRn9C+LyJsRiI9K+w7ZUhNptvNDiUDKJw5yFIntZLIiNhhOBmqk0YW4dJnbX2+fgLl8kpGPYqHobM8yZGKy1uw4+f2m7f4fMKPmiC0cqbPB7Nel3lsAtXQzj1da97nUf7KLQTLRB36GCsLXtK1KoPqXY+iB22ISEXrbRDix2W7QBk3jWGABKIzrzlzC5+krHDJ53yQZY2Cz9zMv6pn+oNrn4ecEpLLSJQR6+/+Zu/8QAhgmt1nxx5cX6Szam2t2HXeDuWQCrmHubw7CNGs3mhwE92Nr2FPnlYHJ+ggM4HwxO92XV8CgPzjW98o40ElwbAJi3bmbqIe0dijDbbxh2kqZ3X9cZW1QbazdRFAJBKSjSJSMKGuJk4bkx23hHjgFjNrCppG0u8Dx3vec97eiXO9Imn/eZEUGpsoeyJp8VBb4wJTaXcEmSlutHMW8z7YKtFGUiYzIujWQPIvok674hB20yQ8mdNXvZ3iD++b574xCcaKEThwx/+8P7X68Ds+fik1sLMmIsDRZAyE1yueq/ZZNUcbzsj2LryqyCLI96YUKxFZwvI844Y5cMoD7JiOwE0t+F+/Md/3BfFLXCFoN9dYSdPXC4WwplkaFdnTNDjgi/bNhSf61zn8uImyAGcmeRZi+zlL395FpO6tPCctzH2nDhiHA6UJpdrWXMPkW94wxu+4x3v8DGYO93pTryrNkv47agm3HEs6HGM6bg0YnhN8yUveckFLnCBPUwMv8/xCrp9i95+8LyP6Q4HyT54fPapVErmQsPo4ki6D/pvJsMVrnAFe7W+6+xXu+q0SBWRWwhEvI5MP8Bu9baveZRNjj2cSsmHXkEnG4FdKihCYjMvzNpr9sQoJVQFDWuvNiJmVWkLxOmi8vndleff8oFrtzZiLBYaVq3ckoFhm5kQjDwge7jbM3bwhuTU2UJB2SAktpQYJCs39tYQG9jOTKA8p5ooPLKWb0B2RRcxlBkP85KZOoo8uVreljMrqG3/li9xNfMsMdJiDxP4zCid1To0H75kizE5npXpFojTyyTqbne7W06lWgvfLbDGArusOtiVnwYKS1ttwviCzh5OUXry08iW8Hs430uweRPjcKAcLnWHcfYfIi7NlfseB42kR5OZHUreUocw3i0ghtGsMWSHIh1mPRK4MGC0xSQ5jL9DyLYTY4eqTsvaa8Jve9vbOLjhAvEdzpVlpvGBJN7d8u0mkowfkU6r9STUJANRCdzLtpPQnJzIVhPjE2O4yAee6z33uc9Vp122I7TDOX2jlmlJP5Fz6TMUk8fKyQkaZqUuQxk6DGj20PY2JLaRGDuMmJP78kgKzeO9mcuvzWFKjyORtwOsDBsrmrV7mrGHZr/c5S7XK6QWG3ubEvlr3sQ4oLzLPTfHMYNY/Cl4vjlZOOpFrx0GItbywYRKlrbm9uvCPTT1WImpLOSsvhzT5ltGmzcxtqzM1tgJRB/j8As+DYe5MtY7TAxZIQ3aGfNdM21v1+5wzbPMEX7Eopq4a9/WPEomqy9NR5d12RV8e4nxCTNccBVf+l7Wj/7oj2rTq12pHVbo9sFlAhl6E8k7tnsYcMTrs8UEVk0qKG1V7SoBlvGdJjHywRgZF3fQU7t6prCxiHMW6XO3JDuM30QZWccOA26p1c769VWBaKCQGGm0DH/EKE09g5sjFIhR6RmrC1wy+6IBaw95DiNk8GH20VdjuLLSMJQd30PKCHRMkkVrBLGV3BCBvkgwaLDGsm3lRbGXGXY++DSJ0SxCNI/hO+v4UH4r1MpY70JnEUZkESHF3PXK7j0yC+Ls2OEUZZndaeplpAc96EFkTuyx2FjWJfhZM69Z/mImQzkzIPFwSaSRMEV2ATpijhcSqS8ruxx0wNGpQhGemij7GXCQciA6toa5G1ygcze3RnMxPYKY4I0fNmMEoXPGGbJJG+xG9q426Ux3p0mMNCn1tYt4/wTwqEc9yqcsGcU/rw2DFknOhQhzjGQYDsud6bxbAx1pdzFHfm+eayTzKLFH4g8gvc5K9mnMPsgWRir3iMUR0HEsLmOtXYiL5vaIDN19e7cSHp0imCvdddAUxIuxZ1aCs/6c2mWvxxIDzeYCZkpj8IzpokF8614GlnvZbRGn9uJ5tTFnvTuNhxjaUXoQl8XvcIc7+GHA/e53P/+SwQT8RGEIYUJQZoqPxY4jyCCPJJlV/82IU0dpLGOHqBrLqI1bIzSXYW4GZ0OUhbXuGVnUJpjLkbQjbTSEeEEPrY7OYlqqVPI1UhBlaSAZNIz82hqq3mUve9mf/MmflA/QnEW8MwHQgTzcpwGhdPJ74P4RRQDgS8i6HNDarQy1mTUm6TXND5WqT9xTBPhE3wte8AJ/avrgBz/Yf8ekZyarrjA9S7FOHxPgD42hTwnjDGfQnETbqYjQiMp0ScLOxyGuYyY6DvJaOP01j1CzK8B0nj/65rTox05dV4YErmGhCY+6LlidDXogX/M1X+OBoJ0iyLpICR7xgxNnTx64xmN+f6qIrCj3Jye+1f3Qhz705je/uR/QvuUtb5EtNugQ9JX/uEBjnPDRd6nNlfpyurbkgY9ySZtNDlvmMGQtm5wEeZrEKL/pb8ylrUfC/kjp2te+9iMe8QgW9Pdi2Yjz/ELaV9D95cqd73xnmFKIezIQnKEJUnm0j0CfRMM5+vIxLfxbmkb0SVuqHMluCw5mQwng7B/eBJ+wNqFnRmd/CfmBD3zgIhe5iOD2cmEvBRvJbZ42kr/0pS/1nw23ve1txauA5iZ6KV7unnHGGVU92QIOyE0f/OAHIVzsYhfD7pd/+ZdlFDR9R72jLzTnBgo26e773//+yJYqFRTSAi66XhuC8xbsdqS/zgSS4ORHYyU6lFRmXvziF9/lLndx+djHPvbbv/3bow9uZvXWt761EsIoVQtnt+A4R8c5HB/HHmgnF3JCCvI/asRLbJfaE7JYl5SxQhexSwxuNWnJqgnGnh2LZLO/Gg+oTnXJgynSpVs1BjV0pJY/bcLFQOFfB+DE3YZYjhtccuWwzD3ucQ+mC6cuK4w2BFjXFJPgT7PGkNkZTr1xXPGKV/RHSkxm6+abv/mb3WJEJURh0FZsmKYxRENfcPZyrkKMOtFMdJdlY0k9UT6tMV75yldW7UjIGUtw/z/wcXBOSWQZAuvJCpMlhuWCSr7YaupCwga3EejoJI9azgtqPxz4TYE0UioXuKx7O7OQ/VE155o7+Ytqwd26wvAOLZzkjC+RUChjJc/gCyfnuus4ENDLNN0OfJrEIGuWrd4w1lOf+tQHPOABfnnsLwlTnnUUiZZ0rK9LLkxP3WsAauQG297TZsViaI4Q2SBeKWJ2/vSnPz3xUCjDV/tsWl0O8CKD5YHwAieMKHRUjDJ1ViVDJQl+pu7McQNtNCA3yYETmrVKroHDuckQZMD7PfcB8XSHQKQSb9xN4Ohjd+CANhKmxgGy811Os8YgX0HPjuWG3yoYN1ifOahUZZUwFbD59Dkl5cpSaLnhlF0OI0jv5gMqJcX5dXGWfBh/bkjGx0XkWUgIPqqNSD2SOwTI4dDll37pl1o3H4k8FfCsgeHMI4LsRowVxCteldEEhgwYZEXHk9+abMQgN/sSiLYsTnnSO0qJJlFwhlFOLvoGFMqE/HFKr6ygTwvTBkpptL9ZkV7RZdZbI76JZFfq4he/OMFsFi1jOrICmjYVzH9Mw5bhTwU3puHSoFFKEGDFiJ2/QnB2SdMtZAV9p0kMYdGGRkOEtrCjczUpxVyaXzaeTmXojenkFd3JRsh16ejuO382H4dT89m6dKbCrwCxLUf4oZL/QJMhKzb0Dqv/sz/7s1MJs4KOVVDPBCudME9ZniDkJqauXf1dwWWSW9MkRklcJpDbCtvgzvrVBgtrsnAPCX0AACAASURBVFpFgO92KkXCAyWKkJl7LWvqZSZ9//vfn7fyk6AcSbIWqUmQydCYjNr5z39+GrHzigCqfvFLdYo6/k+1ZcYk8iwjMvJhIIwUPbILFSCMA4648vDkSORpgdMkRinh3EhnxDA606fdQzFUVdbgktW2mFa9A9REzChRJCmUN5CHpmYFfm0j80sJpLYQWMuMkyIZvz1Tw8UKvQRcuYFgaB5NbGGZpDg6MhppcScGYy7Ta9SsUc70quOyLlPBp0mMrExhCqhD0jrTi57UAHFLtjjy4lQKrEVn0QcC4szMOMY262EWHIbUt33bt3Wr2qwcHMbcDiQtSKXR/l6jwTLucgBmaySN4bJl+FPBmzIwnUJZreSFEf2HuaRRbkpHMdZLJYeRp4VMsysl+tVLSo4KSsoij/7Ua2HnKSyjrKhk0+p2mJqHDyVn6bqxJJzka2teiaMOZ4vF3LydYnZYLznZex+FOwSCte1xGDkIp8hn/iqfvfu0BeEZiv1HuJOkoF+RGxRxN9kW28v0mgo+zYhBGuWnlYa2gCvmSpX8lMTl/VTSr0tHsZGiIwKGnOjYrGw8KcQXZT7MRUcr7x5cVqHRXDGnP0xhWgjWzVdTAXHynHJqxF9j+nfjG9944zJxfF14/73vfS98vEqPFSkRWYoMwU6JfHxJTok5WWKs4DQUo+RuE2OZkJJBbI2oCm2FG2QRXcZGggzRXS1cRn9uuBA3YpTwLEySMVc5kvXwQmimUl4iHBXhyC6TAFn4gJEnITsHkXkTo4FyFOYdhs5q25FTVBVYI41X5LBhx6rJT1sbJdTmLUTVahUarslD/q/8yq/0muaKEcAtAQrZcEdrZ+9Bp/5qLie8W2IUFcO8K+Q8IbuTdJ83MdKZCWr0CeQVAXcSTU7YV1gkZOfVhc1YYWru9VLhaOdNFznfzOqEYmzWnbTkl5zEEO7vec97vHa+YsTDxd1yqQzZmlNitDV2m9nzTPts3POYHRfLQ4lxzI7bRBPoFbNFpisqmSHCr3Z/53d+x96onTe9zEZ2uCvVpE5KGMeE+ymfYZf2XCOXKluel6+uBZO4g0nHMQjuZ5LMnhiLBj3y9bJJLH5CIgLd0XIwUqf0Fgf7DUMf42hjqmnVCSXZrHsDRRtuKFgCHedLhI0zzSH9WmP1CLOZYAd6lRUBV9SdSXidkMg027WrhcjiueGUAbea1Ex3x34a8ZK2gW6Z8+ji90DuVnG3MDtfrfgYlg1cdJGuPnslUYdeB7qnI7ENNc4w/VKCUnPnxqL39zMShqHmHTEoP2Kr5ekWxuvVMbTsbrFVoMNZrG1Hdvmqr/oqYVRK5OPdpkebswYNs6kmeKvlIXMPOmhRPiyrAkeqvzEwO2/cfWsd500Mtm76LuB4ro/obMcB61qwTCBk4q2OKiVWMDUv1yjbd7j4JjMZHMKudwdJtcLO3LGY+dp+W7KuxTbDZ9gEGwKskHMzFpP0mjcxVK/etE1WP1XlMMBJRN8hkdbZP/iDP1i5dSkid7gZXaKKMGFXfgr9FWue0p7wylZ9f+7nfm4LiY2Xg2xNH/LgOTExxIoyxhY5zP6m9g4DaMJcElIUkQ/l+ZiDTcji+KSKLcKwttdedGTwJkhHEiEtTOe2HHS3ONmCX9rkGLI1BT1Swp0D5x0xqNeYzg3Kqq+wOK+oZDs3xzEFoI58uPe97y2kKCjCOHuxCh6TzlRoB3KAVIsD9WEuhWaT2xLbDq9UP4w5LQTH9gNWJO20HDemNvuulKrACiKJiH24ZT+HznUtyMfWuPTiaRpRc9kW0LqUN8BvdZEAvnM3itGy+IPvUKEsSJpB3fe+992C/Hg5Gtmazm2g7Ha6zD5iGKNpUm4oS71ltB3d5uMiE0w8RJJy23ygzJ+P42rKgiwBCCNjm9etnqjwiDdBjBKtl7bzEmEJuVqw1Zpu7e68iaE8eKhXQaWS79h+wkylqPOhD32IdiKspwE7nEoRpno/FtCCb0VJJrOjNYa+3mrxRbYtTKUwbRanMUJ8P/Nk3sSoGnEAQ6gWHq9Kki0M2XPXlWLuIQ95iECklyK9OhDnlicL41LAOZNnRcB1qz0ivbzVcstb3pIWc8t5QKom1fs5tV47MegmFA4YvW9stao+UHgGpjmVqdTiynvc6lnHgUX5cBtvjVtjLB4mrkZ2PmD3Lse5yUa8andGPKW6xC4uGmPHKRlGr+Yql7/85UfmL3q3+dUgPuTPMiaTxd/qEcbdA/ZMyMN1HaMsOW6BkGdFwGWTsRR22a9K5k4MAywhsUu2NNqA6aJthxkzwgbUjuyyXmLEW0EaRgchWb+S6e6Y77bMgilQHNZ5jOL/APJKZzjcz0NoGkm06ZztXDpGO0bOcUdWW/fqnAAtGlKykBpCnhUkZx7uxqsRzKVeuFDB3cqt9iDVDmaihqYLNDrCf+ITn4hRl+DpC1mvqEXcLX3zZdUBBBdEFk1xoO1u6o9CHi+Xo0yUCQSo4RYuTO0DtXAG2mHHZw0diaGvXn53dRhtckhexj1vZswNuOTKnNjonQc3ILWsy3qJgUoykcPR5ZjLcmSBS2JjiGCtkBso8pmfg/rEQ17hD2hwdEGHFyGjAJjvcxhIohes+bIg044UBBDHsE5BXBc4SKGvkcyFYIrEvUDPW+C6O+ve3S7jgk7cnX2ZN98Id8KXnN2FjFfdgyBIL4V5DG5ZLxUOnBupICQSUojo3sicIiC4ZzqFiWB6yUmHj2faMRumy4CL56EdxTv8fmNIfhh/KkjbklFLZe2cshYLfb3dTH0H4+fctnnWorMCeb3EyNNDMQ2QBoRia1Qpl6zASc6AFBCdvuzCYXqVNixCvdKAL2lbekAARDnbxTQrgBQNyQCtBlLiYIQs4EDTvb4B4cQo4uSMUXRcjo6jQVrCp06pGymflopyQwQZCrI83WVkdccOhILyp59wrAiIJjYlWzRRqHAgmJBYJ7yGd20I1vgWRz/iLQO7PHxOpLLL+Vd/9VcXDXsYfxIIFiOEGCSai0F1fC6lPXuylXaN43c/JeaGiTECSJoK7qbaVTUWpyqIWLen3iyLHNwGwSfpBQQgtyHiPdBiun9nK+yKmAqwdhZEs7gvN7p0hhBfLIr44i/NG3aStlCAUyZEQV+HLjHVCxxmGR6QtDKQPC7Tzl29rnCFK9QXTQi4xLQIG5cJrGMhjojFrsFzIBzppKqJWwyFC+thURFZjCR3sTNNHfZBX6zoklOOJD6AkUrNVF6Nf8K73vklG6bD+BorRrZl7Ihq6uHMttZsGpRl4WX4G8DXS4x8OXyAH1eZKRWRPES4qrjGne50pz5tneZcVYgjkjt1p1K+yYuUhByCu5F1Rq3ajAh4lgUp5gpEOPpCIIBGZItX7eJsyABBSpcwxSsiER9R7jI0Dd1DBoHgDP9Wt7pVAqAvtuCkDqBL+ONSO7P8wi/8wvd///f7IIAQid2RPtMdfVyG2NASIxXiCChhCohsm9GM4RBWB0omIhhMsv3AD/zAkZJMCyQ81XDMbrlyAxbEtiiigr7CL0Nl4Q2oHdllvcRIE+p1uCST+kdVDUDCCThq28q8173ulRezvjZn+8klhNIgl6RecdnwUhS6C9g4gwJe4GOSPUzczFJGlR7O0CBrBIGJ1Ih+QVMMoVyl7KtwgHAE04gzvRwqXHSwhhNf9PF99KMfXQ641JciziAwoQVMYG18b3/72//4j//4Yx7zmKtf/ercGf0jz9mqcoCsozTWYLqyZVgDcYfLFNcmMEesCJTylqi6OJPBG1Y5Imoznf3Jd/bH1EFO52y1Fsf65tZGVJZfPXVciz7k9V4JyY6Fqc4FVkq6JKizSPqDP/gDTr3Sla4k+AChOWp7i/Pxj3+8z57rJUk4z8LDW7fGlgtf+MLf+q3f6t+YfH3VFFm8MpwGU/IZteEj65f+okoXUzgNHtXRJ779QMJds23/ywHeNosZC7tbWYLAJ4MfGOHun5zUbJ8SlIp+7IYLfDi+fOUWqeyeNRv0h1oXvehFefSZz3wmUoibH7797W+/ylWu4qHYd37ndxIABJyctoPIbEA4z3nOQxiLEM80zR4x9Y56fxvAerj425AVG0F6nfvc53Y2R6IpOg4D1Jve9CaMHIzmxTOTVX/dwuDUpCPj+3MC7MhZwJXSh2NieDAEbsVL7rW2OYw/FWQkpKggZHWEqOvSFwy841zVoAWCx5k6rsHoyIq1AZCe9SKu0L/1rW9905velBxWdUI8QzzjGc949rOfzQ0b0D+yC1JsHXFnrJ1f//rX+5M47WYUIdQ+ksh2gET1PlKRd+lLX5q5knYq7tlfNiLI7P4BbAXl4awazv4wcVp5juTuV/JKDHbFANdsgemRkpwSuN6IsSzhqgTuij9V2f+MWWCoBOJAo7LEHCA8N8rVMmrHhw9SiGs3edBWkrVZP3asoJyAL6ugx+e4GWbi/fRP/7RJlBHAKMQUc09daL2iGHd34PzYj/3YiqnXZlof7vWud73LgN9fY2I9XHYYc+eQaRJjBKiGEZmJ87q/bBWLLQMkifmSzJlcZyZuMG3+YC6Bu1xNBnelh8TYVVbQt8IsUW90oxuNiFQsFZGprHEgB4ZBjqQPmRhudXZ5gxvc4EjMaYFvfvOb/UOsWR/XDIGZZe4asYEWay++j+TB8aJf/DXnKxScH/jABzZzrRqZi0/+RV5MG4v4WDIICDXJv4xLUfCkbbgoCI6Uf24gs9gekAZjBd/QOjnfkfyLkXckl5ES3fXfxxL1SMwJgWpW27VlBX+N+jUhl0lITZMYrNzujVgc0ypAfuIhFm8kEcQiY/IAzcqD7EjORd9rr5hXTGLKFURkhSc2EMaMrvhY0WWDW4s6qkTH0XfgPO1pT1O5N2C6VhdaL06kCTx5MKwlzwrkaRKj2pyVGxykR1N8YdrdMkeIHMdhKyQ+cAu7pg3gGd1/oNhBYvHhg7YIj09zcsw2ZxmESKRlEO1p7ZDMg+YxJyejplj5TLyrc5QR7X311L+blTChchTujmHTJIboFIg0ZGhHQQkYXEq0MSU+LLzmWGYItTGLsKtrK5MY5GmiZQ5TOO7Q2ORp8BwxMfnUZbH6DmssU3kYpLi0v3zMXFpG8DhwLPIFpkP9xTHkOES2gzNNYpBVaDZ85x52p/xZQ+WZT537jqWHDOwy4YoT31hgJ/LarMziPQYhUo4f643tmPUwlyYqqjJ5CsqZKnT2rzwdFiNIOFmmcmbtF3BZl0ngHJR3JAPXRDMxJqE/IZHJEmPkfTFKRBDucelIYgXD47BpHSDizxqlPp4VNUzYjE4lQw4YMkxiO5TTYuhS/q8gPupxhppWnviiSQzBZ40LwhTL5HGLCs1ys48Hr6N2jF+MIIXChDXFo9XUJycZSon9HDGm2a5d5oBFeME0bVagVjSYnpmwYWdH+DrXuY7n1uzO4g3ZarP2hLFYzOFe0FQCtjAVWWbndjwVYzpSliTWDMuQg2cN8ms0tuuFjnbv14yFMuBUg5vn93YpyYlg1stHe5gbk40YK9wwwmgFzma3mLghghflBhf2lWXvvSJoNsXiXvoIZ8IhG8EOUaUxbbZvYIoEUPuLMG+geFt5RaWH72gzIHY/8RM/0W67iS4bVmUiO1VWYPSHf/iHhERQerCbNqYTFqwNTLesy7yJccA3TFBxXSbNunCWHUHJo4hXAhtGxsLGpXI4YVmShKnGuyM3VgTiunqti1+EtcTSV1h7h2pFwBGV5HEpSbz3NUa8FoFlzjDvuiIdiX+BC1xAecJ9JNsOh9kjJRzAeRNjkffk0Yl4vm+uLFibS7zxjW+83/3uNxxvxOBdl82YV5vjmHfjtZgJDSDH7D45GsXlBjsUx15P7K/uljE6kDM6ep8yi1EKtTJH+AJOONJ6PZTp4t77EOi3LbFM1F3Bz96JMR5QZGulzidtHvnIR55xxhnvfOc72VSgGCjywYQjhpIsEDm1cpvzRipu35fFVmOXmPYjHm/grgjokQNDVHsV4SMiH7JnaBPazQvXGFkHKlJsiKPNmFb/2zfaao7bW3yTI89Vv1eLdcy7MqEa6YF6v3u+7W1va8Rg69vc5jZeDudae8R9APyYNI+DNmYCizONCfU6jgyLOIW1aCumnU2lVgR0AwIraaTCIx7xCPitOsoH7TSacLbjlX7vd5riigQuI6fnWsTew9zY3ohRYjgvzkDWjYAD+I0YCMqK6Ht/k9HZ2qSZX80KZIVtFu2q4Ak51r14cp5QlxMKpvqqwXQ0PIq21cq6W9BrhOnXLCg0GXOLXtqL07MTilf3IaRLxEvdPcyKM2NpEoWXEWl0bsoBx0+FDKMrKtkyOsvgFTOuLUANDn44msvveMc7glf8FNQhwzJSa8Gj7EyXMYMajbVITYVMkmo/qUzl/YZpBWXmglYCEFv7ec97Xn4Zqo3uE+rlLVLZi6+D71ZM9lYIv51b8yaGYsAE6ncmUMnGJGQS9YbPeBoLjy/uf//7GzRe/vKXe2KFBeu3N1+2TMJ0P4kU6GQT38bJkSdHSpvdnNuQ0PDTrgk3J45kCmj61Ns6CUDIvRp1F8WeNzEKR9HJENWnabcgRENjRUNHr76DWIJLEqkS3+r6Fhy/LCDmho+0p3uFv/MyvvmCfdqZ5ZS+hLIMfyo4B9n+aterHREedExFf0I688pUGohOyheX00Zn1LKsUOBmsyZ299NndhclIqAlpsv9nMtO5UuaIlUl9oRu9QhZOLJYn3GpcFRippLnSDqmUo52CBrTyJnkR+LvEDhvYijkY6xkDq/KTDuVYtyywirckYllixxoR7XMdG5I2aGhZ2UtH+joXGIIvvF1kmV8DRcs1osCevmN/hYqt+ECU5XLwUcJfE5MjPw0qhc3rB7il3lxBZyDmxIYLriWxSFXh+RkawxMNbhkBZ2z+62MXBlSfUaZWKYX17CYgbS4vNa1rrWFAPWuVOvMwqAxagsj1TIjrIDP/hyDAypFBeu0U6nFIicUBITDNzh8ewZfEONGuYF78+kVtjhb3xqhpqFSrC7/5Q+c3okai425LcAXHmUY3AjAQaXifg7m806lGDrlnVl/2GIqB4x5WozQB5EbPuKkFvK6AUQqlhtTMd1DOrQuMRo3qMwIDddHSjtKVVt2+n7f933ftDXrSL4cYcvemXhkwHc/hwvCT5MYTWAavsuBYRf5kLdAmv1PuDHFuCUD+7ZBLh8A3/rWt7rEKAcQwIx2C44/Mhq2ADyQA3bkzFpX2JlTRKdecBphrEl88WluUUWImlU24nXKkW1ueVbQnyYxcoxzh9BsQl8lAxSaTfQ5YMKhsxGZeljUtislN17ykpeUBviOtPwE3pUqxNmB5b1s3zjZGHKk791iFi8ENJVyqYKYfx6JPCHQprCXuAQAjhxE2hXZOyHfDUhNkxg9yGNc2koJfuotpobsAhdQVoBPOHqiOYgXDYh76V9wEIn1y0k4HNCwtoGNzhZdRvXxJhJNfYB0hdgVi4qINpcp3r7zuaLLJLd4YaRfMSNCJoyHSYSMyDSJUeQxMW2FPiuDFLWpLSU0+CzgVAqMuEdQWuKOi6O0dFe7gYJsEKbiu290qNkfj0gJwSfa/FZpRTFmjQxlxGAl5vKB6vOe97xz60U8HLEuQohBVOe5+W5Af5rE4APx59wyY2jusoVvr76yy+te97oxjGwg7uEueAEO4xolvA/nBzGFRaOEuyui5DDNsyPEswtzyJJf2DlWTKW4IC9wEMuEvIU1GJG8xMUdTaWcuW+FnDt0xDSJIfoLQbWnJEnzRg81CZDPnL/+67++5cdUOnNwIwPvos+7Pnjhg7mNHs3c3NL4BJ5KsYCsUH2c+cKD1DYhlhm5HGA6FmvG/6AHPWj1e4fLSK0FFxUS2HmMFYtj/lqk5kaeJjGasYhFwdco+ahHPeqKV7yiV1xNoijPFm6VJxNWiBHraOLePuAYHNzFmgXBy5+5rbkr+k2HcFd9Gi5WD8tVDYYyuVWnGMq7fRZmW5C/Pz9ooHCuaG6B77ospkkMXEt9jjGJ/OAHPygfnvKUp/gZne/+c1KZY3k37R+UcDC+6p8KJCCaVple++MiIpGE1wsR8rTYWNdAZwt8urNDyr7yla9kZzsQq0fmxoqqlcLhg2t9dGdWfdUvHyPEoglFJXI//TJNYvAK3+QJZ59V/pEf+ZFLXepSBg1POisPEAzxjSdZvwEdpBd7Fm+t5R6WbdpaBnKw4mcugYhE7StJphmlzVqUIbd6aWgiocsg69KZFX8MyErS9a53Pd/OMWJbTy9jyhTNbKUEHHbz+ca8sKzLJHDZqDJGasKJwySyHSAyWWLQc4wMjY8gltrf8z3fU0Q2mXnYwx5217ve9brXva5f2AloZoImannlJJZqykS3AlccGy7kBk/YlHTeLJpJXsemZ7hUAubwxEloKjEtu/0QBR3h7vDN/WU0+SK9NGQ7c9373vc2aCzDPwfCp3lXqjWfyGblRka29lMhUxrrCmMIN4Dzn7/YetzjHpehRZtXypz1kht9PnAtHyA7UqKOJYb3DtCUGziWltBG9ByfRXFDQk+Fm5KheZIEPj7rtTAr/BT8pm/6Ju3Gt6td7WrLiJTnMBvMqebv2jYbUZexOLvDpxkxhAsrixjnKpAf15vmiid/NSYliip3L3vZyzLZGEMguyV5APvd9loGPZAV+oIQw39AxqVFCBYbZEUU9CW2BKbj2AxdS8gtINO6EeBCF7qQodj57ne/+z3vec9lrHNWO1eySF8Ls3y0rMs5DT5NYrS6GNMVr937DZ3/zvGfa17aKVj7IoHZv2QAkRs8IYj1avVcnVvLASXG4KsvgpLB682lHAjiGC3ibMCib7dhp9bu4YhBIzavCvjfSo+9faiGBZZp2kgr1VOHfR7wgAf0waFlXc5p8GmmUkp+tuYMceO/pMyXCk2XIp7P+qCQzfICq9zgGGUYRJ40bmzsgATQnZsNVpb+1i1KI/pubVYO60V+dCRYhVl7YyHn62hjo3efyNlstqpxJMdu0Ytx4MOpQh2JfM4ETjNiyIGmrezr3QSXhmnuKStYvx0PECs8/oDQ9nkudAlhsznuGAoW48BEDrV2ogpo0bzBiFTRJb8Mkbfl8MaDz3wRxpj0VXqSkzF9iXBFLeAs+NTRMTf5wMqKRJpP8r2lPE3xkwAO5mbcXnjmpNbcxmt+cinIeKKf/FainAHFmahtrrKumQ5kxbi0YyssWlcQCRfnDSr9iBW6NCoiIqT2LYaSjf3Lf3a+2MUu1mT1SJNCy1YVI21+8bL6kcjnTOA0iZHtRuTVyFtMLzcgKNiN1/mvLiAnsfuBAB2X6p9kUAvx4vXGpQ1GpFF0m+ZFf0UlPokuJ+lbDjDm2GNoZbWMJuNAlu0G1SaKvmu6wYi6jP4yOEeYSvAIAYYZx9xvWa+dwKdMjMMKiKR8JkD5wKVvgW1QuQ9TXg3x2TWObw7NDaXEHgb0ai2Of1ecNY41oNGU7hRfNrIFN7AUoC4hb8EvBqWkasgqNvbTL9OsMVa48IBvWoqswJ/klp0ZdDi+cGlaNQnl/SSiCgi1hl/KWoV7k3JZVlBhxGIdYf78z/+816Xm1o47zKtlY5kcuxPOGmaSed7EUB74oLlTA6jfqWjMpMwga7w2QJsq4J4bzIU05ua7W/rCrrojSRwralAukA9sou1gLp9bnlt+I0YJLBkcBCDzFuJhA73mTYxFgXJA5w0EXauLXXkOKBlYvwK5nw5YS69lyBRUC0S5SbxQs//h2f8pKzGDwMksvUGzjP5UcB/YXpw4NYXbT7/MmxiVBDHaWpBRPIdaNM1UFj9Ap6eKZhQcjx3uEFZMLWYSY5tkRXaGdfa7asqu0LdbY0hxKaM2ePNgXQVFguzFt0N30m4hHtaVE/68i28Mqgd5Qpia928g5bpdYmePuB0P/sgH69I5u+CLtsaHCpAH/6Ktpe2RKnBKyZB9XN7+9rfPSkfiTwXkfRkYo2a2Cbkih6divS6deUeM1r7szhZm/PT3o9N1RdwA3wsR2OmI44iP/RyyN9DucBdZIcSdhR01b3e72zVIHsYckKxRtda28t5CYnh3zk56MixWzBVy7urWvIkx7C46zfgNoP4Fawuq3vSmN5USTN9UCsdTBsoWpJqPBfP20AYL8f2kJz3pOFMU9ik6v+7rvs7nG33x6aMf/ShSiDi7Zc+3y6kkt8aw/kaTO8hZzTowXGBqDlxdm4rvBnTmTYxRrfmJLZjAM+mcsYGsx++Cl1EbI42eW4mb/ZzLHl+pFZiZdJyZvbqwrItpTGOp6Hzxi1/slxtqlnL+kIc8pDmYjhB60DGhv+wQ5I6SoQ3Dljpn5uhZ25VEasa1TPjtwOdNjHSgeSWNUTzgO1Ah5tDzGc94Bl583KOMacveHAKfkGYmXTTs2G46krLg45SWJUoVW+krTHsrpHLWGqBtriOJbAAU+hFv2kYAR+1uoclrIDuvYvMmBvXYV3RWFVihn/xuYNO1urzpTW/K03qN2VQyrEXn7IJcGI3EEM2nrD51MWO5ylWu8uAHP1h6fPu3f3t/1NYtEVxBmTBGe7OGVUUF4mOUyM6LMh+4tX1HzL4rVWXiqt7MUZPaCZlVVT80bxla2csTVaZZ+e6W+AgsG6+nrALC3XvQ9rWZyBedr3GNa/gel094uFRKPJ9u9xadCe1mn7BhiqgdLNYYcjgrTpnbs1p73sSgsyJhpBamxg0NlxMaeplp1L8czA3sW33KJcu6nN3hSmyRpGGN23v+y5RSpHhBVvRzYq82GzfYp60tXuu9T90nHC5QQ98yQ2NkRRIO4YfA0/JdZocV8HkTo+VUP6HkCQHapu0KgSa5ZVaQm1GTk84uS5VJ6O8nkVFiRTybr6i4TWnsnCrhdDEs9HyJlZpBcZYgFp0gh6N2Y/Wlq1REOQotYNA/kAYrJN+Y9bodZ19jMDo/01KgcQAAIABJREFUMbThwjyqh27rSrku/uUvf3ldmLusaO9v50VoXS3Wwh/BRE2zoPYAl1EQi9zRCxrqBe/8xm/8xkc+8hFZ0dzJuawAmTBMed9YxCmO3IF4ozpRW1dUTGsvk38L8HkTg3sYnfLsyxZKlOcYBeusuvlpP45VOyZuOjehg2cVfmPiVK6vJVZRvowUUyxOaLnJT469XiVYGzrcbeY5bTXhC9+8knWN3hqLTtHuIPZoLFNhbvi8iZGVOazhuJcrh//m082XWFt9joK3BabzqXNKyiI7BQVcpr7IRS6yohc0Ed/Sq3HVQjxnreh18lvC3Wgm6xoQNIi9n66ZNzHMdKnN9CxSeWiMPrmJV1PwqiI3sz7W5gxkMII3Rq/ueDa9K8Jomp2Z2mWQU6rDJiVVP+U7Jf4JEfAyZeAR4vXVmMQ+Idk5us+7+G5zQ2UiOlv4rEvrLeaYQ5lB83znO9/Ih2F6K42x2TIr9+0Tl/nyITtriz8fQ1ix2VC1Iqf5kgP+LW5xiy385tsawzevGppshRHD7NoSdPsWOyXHeROjD7owPRMYPcx926E6pVgnRPDNXBQaJUpCefKJmhXFt/OYlzebapFwpCVb5kHjFwfj+AFZeXUk/lRA8RBHBGWjtZ+s0NjCsnNdFeat3CqEuGwOIy6VCgfTrCvluvheoh7Lm2bSK6JkXeJ7iM+kwqsFhihXgHz1Q2OZqC3Aco2RXPF+3/veZ/65DH8qOI7YkdMhK4jdJthU9CekM29ijHe/ScwWHOY89zwKL1EiLHCXD+0MahQNE9puf0gxKTXFnEGj4FtdCHJBZx5hmVe96lXvete75taIX7ywaPuLtPkomefmuwH9eRNjlG2DBlflsy0sgn/913+d6dUkXi8nFSc+2MBAZ4sutGteRFp29oDCruiK+QlHNG5rlEsavp8wt7IE4xEfAsYI354z5qO5Wa9Lf97EaDOK0StOFl5j6zpfNtyXKrk2MwUZk65FoEpDSQjhI3gAWa+3v/3tWINXOPP9oKZ73KOzwjFRdoZzoLu+P/MzP9MLDtqL85bRS5d6nSXs/+844KdFFvEalO9///t7KLFiXoTUiO908UbM6koMLdc4k1B3kPe///1IMW/yZ5xhKA043Vq0BsjAWRSyP8t0t4F6nBdfNsE9O4yOmQtwNAZTEGgpeMB6c1zOmxhD4twgTNmdy4tmwIaUDEFnHoLDmjmsXi4D5hWFsEbhPiIATZTdQiSz9gHpnA0SzbxYJLkFOIjre+DIc+GU24Q0QyuS3v3ud3Nz00UdqbYYPYlXL+0DR5ZJmNRpRAXXoAvKzkLB/NNeKkNltIMi/t919aKI9+bFYvk43CUWTMdiI9T83Y+OWSbByKyvczjpkoS1WTg1AYnaAhIR7fFaCl5jxwU13xTGF4KFOEwQCDoS2Cg3XvEqP7tbeOAILWdlvVnPsycGfVKSSszBx1yu7Uix4ol92Ys/cr+GjuyyWPmCZKb6Zsf2OlhNzqCDgs1yfRu4MTVk52/nGnXn71x+MGz/77qQKkp0cQkfwWQGB8SU45sVYB3NujiPvge8GOUhDIbphbhbRVgxZ00cnUyxTNTqhY66s3AElyEnVZi6kNlLhL5OzzspRbAaYQ67RVZHcL36T/Eu68ICiGhTp6msLuTpri6+qe6MKe84u+syCtY5V7jCFWyc/PIv/7JBEhA1dOBk8OGCA8ac4/Lj/6swB2k0RQyj0JBiRa0/bZASnjPQtlpbVPE6TOOvu35gaTLgJ02mXnDsJPp6ua9Bs6N3PdhdG7ICw/T+b0CpY1xJ0lMqtapSRACes9TjAyZGvFQB56dCXJtgI0sP2IFUhHeAF2TFfYxAih7daZGCkMGL+O66zMERj2ABV8ZW3avfPWxBCgIIlburLyJIHZCwy2pKlLGOXdF5JD7iTIGXLtDyjl4OcIXG4bEGMbwqAuhXr748ArM/i+MgHf0vOATbWX7H72c2/nrGZIyzUPBjQL28xP7hD39Ym9GYiC5tzrKeW3RRBRw9P0Fc+6d+6qcIbBGCmjfh73CHO1z0ohe1wwZI5ios1x+p1LTAeRODrKxf/WMan/TyjG/EGVXzYn4tWIu/EQFwRkSO8G27qajFAkKm5wxAZ5iA2RF3ODzdm6QxzYgwoS3LCjjIFl4jxBMM5cjCKRMSQHsRcwg/1IlvEVxQujXQNARHjqejtBkhm17OR7o/gmQQqRnhSLRF4JlJcNYvK5klm3RGBBqbkAS7jD9opmAWC5+EuQ++iK88ZYSRmcOMqEFjuiomRoVH5cD/Bsqib/iGb/Cf18OncBI1s8T0lNqdHGH2xDjgJ3YsamleSKXDyBaX2TGLu6ykOevYrcU4W3RqwZQp4xIEzmAX0ygE79aRpix2D9+KyGI2wimINRb1qm+MtBcldzlikXaJgebIgcK9vtRhyWU5rK+IbAYl8nTRLuYOC58YI8IK5WEoklg5NEdqDHSrEQwXApCKkLWHO8gWBPGRWgmQRqMwxQ4aiC5yCZqGbMluBUyZQ5IG1XIs1suqw5Gabgycd41B58oJ+Z785Cf7o0rfSC0IOIaegkkjU8IJUhCwFBtBBhyznVGrdBy9oOnblAw1v8+8/vWvf5e73MU/kWbuLB7fztmrMO2u9uEjIROs9qK0T3jCE+5xj3vkp7Kiu2Eiq1E7RoedlL8Xwz190aSOXqaLXoj8xV/8xcLrsIRBIIswOMKOyrJCW0gtw5c8GDlDg6wXo/l8493udjdAWeFNDXR0z6qQiZScgKM93KEBnr7aDu0o0Frb+uHOd74zdlz5spe9zBsoD33oQ8ncFBQmGVBomGI6EB1JgleUXWqQZPj9sD2nhBBi1oNRBI3PFvlAC0a3uc1tzjjjjILGmZLOIjsZCiPGcqmiOEst5yDdZbuQ69vl6IjRC17wAla+xCUu8dSnPjXMReKjXReX0VnEPNyGM/DrYtlj7vvd3/3dLivSh3uB6LXYscsD59AOGIHRwC9zmcu89a1v1cgCR7JInnHOYsNKR3YZKiebP9ct+a19sWO94GldG9koI0jUxHMrsSMYwgAusrYUvOQlLxnka7/2azWssP3tVnKmXaRe+tKXQn7HO97Rt0uGqMMFw1BHqjYVcN4Ro2oh6Wnr/8dcWlH5TUzZ73ygZCoJgO3wKCfaVY4g3VVyKgz17cxqXAXZus0fw6qC/gXTE6sGkxxZ9/pqj8soBF92hrPYHcGHP/zhnjDIXl2acnDJ4e6LjNzt8sBZx0G8gQKm8Hr2s59tyct0r33ta7PAYfpBFk2RxYaVjuyCHaYsFl//MmMBfcc73tGS174I6+HOpItaIxtlBA0IjZO6N2gkQAiALrMGFg5dRt+GCBCrTR9zISdM+DgiVV374R/+Yc+IPIkHGd4ZwsTxSL0mBB69mJuKQemLGnNc8IIX1LBlMeE315oN58IsyGGYiifzqOtc5zouWZyrNBSn4Z4TKmhi4I+DPWEYBHEZLjw+cUEzIpi/SS4onWmEskL+jd/4jVe+8pVvcpObKKJWyYXj8ekvw2QQLLAusVUQgWif1F+0tQU0IhsFmOvyjT6n0wIXIwntSkKuaWvLkN4r6OFgRBjc/YUNTe0ltlmyTIW54fOOGEUk96tDPmlDGf/jOuEfrbdGrESJe56oCpqXm1CpsmYF4oxXwCesNE972tOe8pSnqOimy/5zXlY4NnCVoCF2EUN4eY7Ixz72MRACg5jbXOta1/KQ4UUvepEA3YDFkV0qFv3mW/y97W1vu9/97ud1AX/NbnTKhlVxmOtmBY7NdniH8aMQRNsmr1fi+UKqX/ziF093qkkekoCby6FgplrSHin/FoDzJkYzSO6/7nWvS3l/Qa1I3Pve955KMdbMsgjipdw6f8d3fIfYetaznuW/ruVGYzr4hIlh2f2Sl7zk1re+tWnb9a53vUb5pm1rqSYE1UsSJnw1UtUkKqMJ1t/+7d+WHpbgBo3Vs6m1+OJI5h7vEJsNCWAReM1rXtMtVkVNY1SctYhDbtxu3EOfOh5WlNjIXvWqV/XSwCte8QqRUNalr46+rfqGN7zB2uOBD3zg+MrtutwnwZ99u5Y5uF/IfvCDH7S7cqtb3cou9SSiI6ICNeg3IPAoi6t/1cKrXe1qxmtovN6AToypWNPLcy7FT85HUwRsUFzJXMTXvW1NxMUK7YxIxgpLfIrQccLciO/g7rVLMzdr/W/5lm/B2kjrXNISZl29dCmpZHU2/83f/M0XvvCF97nPfYwYZrkqi4adQ2g5cfilywPAqbx2fDrzJkYRmfJUJZY4dhxfvtWYVTVpoPjBzM1FmLNIahNzwrEieTCSaRTBYiwSVot65N3h/gLIpYfHHuSzGLKlRx2nDZSKt7PQp4JGaxt8mbRxDMcaY0w+UoUVwBwxckwwgPBIkVDmYOcAKfeqC0HgtwGzgsV8tyaL0WUi0p99xRDN864gWIa8LjwL9qKHtoLKmsUrZ4+saLbq1rr0l+GXFRQpK+QJ4gRYhr8MTtSkaihwaTHWYlQMuWw6USSBLKOzLlylaETSkYMqHCRxuOSpuJMK67ivywKpYh0RGpWE5oqlGY60w8VlHAUJFhAabQB3mBVnmmUDd65lo2oqLpUf9mKmtSisRkaWA9hRI3OfWYLOmkM3gJSNi9V3NcHj3EUfx87R16vL43RfxKnXENUtkkezW9XddcmeEj+DOGOX9UryoZRGCbOBXnVROBBvUMpHvB8XHOmFPgHKn7oMecg/k+KntEwIsyfGMeU4jXbaAntlgdmnUnul7WlhTlvgmBY4nRjHNNRptHOWBU4nxjnL36e1PaYFTifGMQ11Gu2cZYHTiXHO8vdpbY9pgdOJcUxDnUY7Z1ngdGKcs/x9WttjWmD2xPDIppdGPa/RJpZHOc496ewSvAfAxxT6lGhYYBcjlPHS7tKzsxqeqUWnu7UXhdSxh74QhrSAgxSx4es4vtNzSsEOICzKmSkSO9kSZjx4drkMri/ByJOFO5N5WBWjXjhI4GVwdI60zwq98l0mhTYMFSNMx62YdulcVBygDDgQVjDdwq15H/Cx8lmP/M/8RbJHnuNdNJce+LOUJ6MDOB4hT6U2E4uk8eIgV43XUmLBqT33dalNTpdcC2107CcfuZyEXnCAMN6PQtMlXfBy6L6Z8IVyT5qjwDi9IlB6oBzTI+FY9yyZ5IlEaxCk3NIFZbcyOLjLZfBFLyzaZ5le4XMoaZM/XdB3CzD5NfAtHpBKNrZluozmFiLeVE/mzhvbc5m0x4dv6MjjM6jOiacSgPL69haTRiEoCovL45NdjVnd4pteREccX7zA2Rpcd0y1+UO7F93qlfMIDKidq+BA5l2QAjRF0ISJVAVytVSH7y5yF1XRBBQxmctbXrGI6TI4yr6vURdn5hV5w6rEBvSzKipouJW1D8OX2eew5EGI6vCjIhxHVuOCBUYamGqUFZhCLj2MJCzGtrmjmuIS0K2BtozvFuDzjhgpwEMVP5eLZaw356p2zllnEp0rdUhVX2PK6Jzk61KypfjgAI4Jp/dbR40cwwIIl4eZqLURL8Hiki7rCk8kAjiqsjFCX2OxvpKtN+qGAGk04PhKKjj6klz3yCYk5HR3yReLZj8MX2afZaplPYIhJXsPEwyS5M40LYGDDHlqBMRLr4ywjO/c8HkTg565OVVpyyvOVRRAZmXNZqLT/pRRfMSFAHHEqH+2xrcw0hieqNFkQ5cqNKAIW3RtcYA47/Klc24eGbWuwwrlghVBfCuibEJ+OTxS1HDBREfCyYDCmPVl7QRLx6o1yi4Xc+YAHIX+xuWwfZbpxSDVDnHsYDEHZHp1xm4xxEeh0ZGCxA4TGvX1VUOrFHotY7oF+LxTKZozRJYaJbmYo9soNgzB5U0kJtFZKDN3fJ1xjKnBOjdkdAKUNhVsAjS7GBNifSGM0IcWHWdtUUspAkNzWRVfS37EC9Mzo+msJHQAlhLojwJc0C+DE7jfZmXVIbPuQagAB4t0WQZfZp9lSjUXMFIxCJNWgELGCLvsyc6A7pYV/QumLs0j0h2CS0AWgIBaTlnGem74vIlhilyQMcr41cRwGxNQrzEUwlglT6KzUiSMGL1yhQuyII4hQG7gQpKA5yd3ZUgdR6mrS5faDgg8169D67vBb5SzADESrKwDZI0WPMHJo3AALoNDIwmR6BiRbFh0arvVyMMO6C+Dx+6wfZZ5JPlRHkUNI0BHo59bSeWMKfpINe7BYUCVhVUdGi4BNZo7hLyM9dzweadSpC/uK6h+Hs3oQjb3aDOBcsJ8gL43NaG28fUtD1/raWjy0ZBXvvKVID5fwAGC7IY3vKFfHmPqt86+0uCWn5ICQnC34kpIyL7g5jM2fsUKWNykAsxSKHbryo8gAVAoCGosAhvExM2QNpwDcLIRjIIFGWsnv5/FNkkjGL1cQiB/Bk/aRThNj7TPCr2Q8nt0dkMW01Fcinu3yFb3UgWcCje4wQ1CIE9J1X5M4okEBsnyK1jPemvez+ccCBfaCs3swklqG+ULLN/CoOewhQ+Y+g6AW4B6aTB6tbDKNzBHIeSSG9/4xr5R4JYuhXUd81b0K8/gDu70fRo/RzZYlTYE5huYdR8iQeZIfX/t136tUJNsvoQAiB004SUDu6zuAhadiToyjaa/9Vu/5a6jOLj2ta/dTBKFUctJQqpb3vKWFFREfSEBHX3pAoKFSGJDRKRWKc22cakQSOZEDegMGVDYZZDQnFO5kHVLI2QNXZIfGvUFdDOcXANSuCt5LB9ZltSLIuUnp5DfLZix1pf8JQzJhzX0ckv3EOJ+lp12cMybGByjHnAw0zOTS1ZmC5c3u9nNWIq5f+/3fi8c2ueSG93oRuUA8xX3LAXiPNLDFxXaXEKED/IQBJ5j/ULBx91k181vfnO/9Jdp0Nx1SzKQhGP6wIdLHUEaXizQ8w0hRapI0iAGNML7VoBPkHAzjoBm9sQgtu7DkcSmF3ZlF+JmWW0rodD+LxaIuCUrCEl33NVXDd2rC0KKZcoWHR0RLEzgaMChLxzCkBNC4Z6tIGgU9xTXUAsw0iVryKVMzTvuSjxlQi9tYkAmno9oIZL9QcKEQx5tcI0qAiAImhpI6YiINo5cMISH40ATDrtxCjR+RBw1rLNkTkzZHZzJN9/BW4hzVWeBWBQ6Mw17gfO9s/kDQzhkBRu5pcwkWETgcwAIOIRuBdEGyU/a2R2LOkohQKzrkgBw8ApBjAZ0WUq4RZ7wtSFzoUvnpEJNrIegl0OY5mx55RswbtHLilkj9fX12RiXWKRybWc0HUko0wQKXeoVF30TFdCnT0hLqrhL/ijoTgbEde8rOMlcxyQ0rDEsnDOT7H/+Rxcy6zWoDeOE4AyfFhFJQeesje+AJC0t6Ci90cFFUjlIiC97Ype02Lmr4qDglst0jwiOFt9YxzQ1t3+ed8RQJGhYTdKQ92obQxj9Wap2wz2bVtiUFlZQX8HZHdBlpagiDV6wco/S0tZQC3emVHtipxcPwVSP+R6QD3SBAy40LQ+IV0UUSaIZ6/wBrmNMR7nlSxDcESFYc2KN5g/mQtq4o9MkIZEwgklZ7MiASDLzvU8t1ZdgqmxVs0W2djVY3yTEOku+5jWvGTXY3f6dlVSiqjkJMcQWHHf76MbXfd3XWZqj/LznPS+pokY2XNyqQscIF9xRQ5MNVXEzxiwDwS34cEoJGiGSuZjl1a9+NfHcoqY1m+7w40UkY5FLjm6MzUomYDI5p6OGCARbxogsDo+IbPmYNzHaZGRlShbo1GOdskKdMKZnvlbh0FyKxWpGTmIvwLKiM0fCae/CrZxd3CDOVXiVdXIAd7mBI0/AMbN6znOeAw0Fd6FB4AlAg5WMBSSV/CFqaQkOgQsJrAwTUvcKnvwR06UT2UYQczAZwEUnT0Mr0LEjiVFFViir6DRrqiOazVV0xFow6YW+YcQEDDKpcGFVdAjz4he/uH0/9MGru9CapPXcg33Eq47ij6FcauhY2Ik/j8zzCN1RQIfA+KJJBg12IwmOEm/IYD7p+9zPfe5z0Sz5mUsXZB2Sp2GN+oDUIZK+TF0tAMzvKKPfCg0aoyUkvqXQlvNhsJs3MZpPt/AqMYQFJzExwykhjaQtInMni/BWLmGp4olNScxnfMBw4DljGH14BfGcoaP5tzqNkRUz4lETLhrlks+hY0QGaJhC41SUBaLA5Tn0CUzaarDL5s0uRXAEsdZXJogqXIonJZPugHISLyJhVLbQRdxApj7ZWmBQDTVxJglJ7hBDrQTkDFL0qkhnBxYjc6nbmeRSN9MVlL5vXaTWRZxpoCYBINOuj143RrU7xwJEVRp8HI0M8KmvQdlqHPrkp510HVFuh0CmQYNDNQgy/3d/93cTxtktdDRycQlAU6amPlPQBQJ2VNadqGUIyK6OeROD7RhFTNBTZWJ0zqMqhwmL7Ds0z44uq9OFEf+JCUSEDmoohFDBA8/HcEb65TDVl4mFSC5HnOlRRse6nwCc4TPGfOMWNLccxGt4yUOQG1Lc4k4slFtFWqwT3iW0pit8afJAZgi6KNKpk/zaSYUI+QkGXkMXIYKOv4wQl89//vMTD/Eqt1SEiULrbO0SEkG6U2TQyZIIshLJfQ214MYLkEjtSoeGuKrPLyiEVk1hEJCIwNQmLfXRrBg1rFVcdNRQ8hvxpGLjgAHWSFgXijigIeJuCUY88zoQetFdd5mWkTHVEX7DY9Ju/zxvYtCfWSnvMBtmlAqqibh4EoIs5VaOYRf6N4DqyGcFk0ZhBKjhYDVtyHUsZNmxQamcUVM1cJcPcsNdqVh4cWQ+MLWtciMFTdmDLyYKhRi5xa8kB0w8tTA/cSeCTQLPf/7zj6G/TMYi1+qOpnNaJJ6SjAgcWUEwbZ+IdqZXpYShpF9RW1QhAgGR8qpoGxZIUxbAVATDFF7uwgdBysLXyJMMstcgYCQsx/TN1O6aarKPjr0+k7TUhIMglUnrLmEA4SdAU8TmgUZglrR9J8llUYUJvra604NIxGlKMMhEFQkE0EDtzFj5vylDdt7Jed7EYM2CQwTQ3JmhqzHOFTC24H5mAmECLmSXzM33IGzK353zUPs2VbsjrcYZ3FAsKki5H2YlilQDwpcwu8RUo0gtncpV4gmpRnyREUd6qYtDTn8v2PRMVJmKNNEqCuE3dYRcWIMIsto9IiwUwIvp1Exg53Iyvm4VrLqTNgkzKRuOAg857vrCoY5tcUCmE53l2Ii/Ms3dtHYJoT+SzAUoYMFQbcXSnfGhORDBiEjqAu7hkyQ5aacXFyiFTWsrT9kNWk8/WsMMF6cXamma4ls+z5sYNKS8lHBmMvY1wrJ4E/0WoODDBOyVdRRU5h4jRtOVnI1IYaeRfQ+bjOcUchWrfCsiWT9vtbDhIRCsRS1ebgloHSUVoLO7ziYwgHhpQ5Mh1t8uK3ikJb/4QIQYVQGDVQKPTNCxgCjCYJaKFQuXRYCdZQVVhHUZo2IOHCOBi5QGHL2EaYlUuRmpQn7pDVieUEEJz0r+HUFuRJ8dUs0tutOlzTHE7UTpK9Xhs4yDvhGhbGv04DTCF50GUjI3AIIwIGSaooY4fO1MhCNMZ24qo1xigRTICINk3sl53ldChhWaZrALS4kG9SZtSwkQ8BHEo1dJMnAgQOsTzgHZ8UirVcn4jDOcBzK4Lg6mH8kmS1GOOGox1Vjkiw7ICLXie6RlYsCnYKqB4BUFQH3pKM6GaokNDWVkC9CRSO5akpl8slu1OVLOyOKeeGgWWIVU4R6vkqdBLPGK0SFzmTnEyDLOLSTA2cewBjJkrk6lWg6tjVSZk7WjCdndrAGO76JBtOOob+qkUc6iTkR2eJ73JUIaMiv1iokSo3kRoBDPl7wIkymzDpNpC4LGZThMzGTgkeIVlyhn38PnAg5yaHGBH7yCJKTI01qwqh9T4sHMYfC7FYVRy4v1pBVJBCgy9EUEBIUivqDEsRChJr10zCw6LoYC+uG72zsg7BYEmoa+GlXfzJJB0ClpXRKgUNN3yAmBVCkOB6kyJIRSOvMuBiUIXkEaG51TthlvXZDK0Vmb4g52ozJGjnxHKUJ2V8eSXF9aI0uqLAlCqgwIuKtj3sSgamYtbnIGIJMxh+lBySA6JQlTQiieSgnmKyw0CoisXBFFObsfPsN3eBiCfjENB00Wd+lcmDK6okgSkII+5GIo7kVwHUVDOelWQQa/vRekSJ4XQchWzAGm9QF5YgQ/1fzSTYNUkHEszoROkhRD4ASgkbtZQ27Ti0h6halNzbIIPri+2TCO7sIpOcHrOIQB1+YOgiGe8M6RTcd6RZyOYjpNCZYjcE/lagS9kC0AEjXjwIHvLqVIhaA5ti5RJkbpvavEmHcqRascSX+Nwj1zZM0sqJ2ZMjo72rWwyx4mm+ruDI1N6yIOxN8yq7WjMiZFBX11C030axNpZEik3ELfgZc2gWNUhvMWMfR1ztNF9hBDL4dJiOXTAKZFM0DACKbykDBkmMgWmu0pgQuUQs1dvUBGxFTOSVshJy0cyg7LlABZrPOQKsrYNShlk4GDTjZk+boQA/fMNfwCP4SRzBykHrX1lJzkwQKRemmUfoMsIjADkidfVxqcFwXeZnvexGAvbqYqz1UDmtmzAhNkZQ12GV6vwcfhaOjOJc6OEaCntFExRwC9qogYFXnxzWEQkBoOgOAA0V146VKSkLDEds7fztW2QhwXvUJ2JmeVGxAROHk6XqmjrVcJA1JoIpuJlO1yA0eYBT3Zit2xAHAXhIIEhkY1dHCv+laJwB25AIXSO5HAB33tonOsvgp38sMhDAq6i/JsO7TArqUO4UfyZG2kSELNrFfcp0L6Zje93FpMg1gk+U7O8ybGsHXRXwwBdtn8PhzGGvbiOVHbfCnPcbAugDaFGJQ1y6XMutpwfFmRDhmdwWgxHxCBWT5EEKZGCaARcpK7HMLrtSgGBAfkgMVWBGsfwGcTerUjbeFHAAAAXUlEQVTgcausi/hi+Rh0hvo6DmkL6KQSuIh4eOdxW9IeCDJc9C2ItVmDqCC6O48iMiwMmC4hZ6go1AUFl2Qoe4mqryOp0hcCtME6kRLP2V0WA8QoIomUp7Lels//L1DEwKtILDeFAAAAAElFTkSuQmCC" 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" 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" alt="" />
virtual void pcl::KdTree< PointT >::setInputCloud | ( | const PointCloudConstPtr & | cloud, |
const IndicesConstPtr & | indices = IndicesConstPtr () |
||
) |
virtual int pcl::KdTree< PointT >::nearestKSearch | ( | int | index, |
int | k, | ||
std::vector< int > & | k_indices, | ||
std::vector< float > & | k_sqr_distances | ||
) | const |
纯虚函数,具体实现在其子类KdTreeFLANN中,其用来进行K 领域搜索,k_sqr_distances 为搜索完成后每个邻域点与查询点的欧式距离,
#include <pcl/point_cloud.h> //点类型定义头文件
#include <pcl/kdtree/kdtree_flann.h> //kdtree类定义头文件 #include <iostream>
#include <vector>
#include <ctime> int
main (int argc, char** argv)
{
srand (time (NULL)); //用系统时间初始化随机种子
//创建一个PointCloud<pcl::PointXYZ>
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>); // 随机点云生成
cloud->width = ; //此处点云数量
cloud->height = ; //表示点云为无序点云
cloud->points.resize (cloud->width * cloud->height); for (size_t i = ; i < cloud->points.size (); ++i) //循环填充点云数据
{
cloud->points[i].x = 1024.0f * rand () / (RAND_MAX + 1.0f);
cloud->points[i].y = 1024.0f * rand () / (RAND_MAX + 1.0f);
cloud->points[i].z = 1024.0f * rand () / (RAND_MAX + 1.0f);
}
//创建KdTreeFLANN对象,并把创建的点云设置为输入,创建一个searchPoint变量作为查询点
pcl::KdTreeFLANN<pcl::PointXYZ> kdtree;
//设置搜索空间
kdtree.setInputCloud (cloud);
//设置查询点并赋随机值
pcl::PointXYZ searchPoint;
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); // K 临近搜索
//创建一个整数(设置为10)和两个向量来存储搜索到的K近邻,两个向量中,一个存储搜索到查询点近邻的索引,另一个存储对应近邻的距离平方
int K = ; std::vector<int> pointIdxNKNSearch(K); //存储查询点近邻索引
std::vector<float> pointNKNSquaredDistance(K); //存储近邻点对应距离平方
//打印相关信息
std::cout << "K nearest neighbor search at (" << searchPoint.x
<< " " << searchPoint.y
<< " " << searchPoint.z
<< ") with K=" << K << std::endl; if ( kdtree.nearestKSearch (searchPoint, K, pointIdxNKNSearch, pointNKNSquaredDistance) > ) //执行K近邻搜索
{
//打印所有近邻坐标
for (size_t i = ; 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;
}
/**********************************************************************************
下面的代码展示查找到给定的searchPoint的某一半径(随机产生)内所有近邻,重新定义两个向量
pointIdxRadiusSearch pointRadiusSquaredDistance来存储关于近邻的信息
********************************************************************************/
// 半径 R内近邻搜索方法 std::vector<int> pointIdxRadiusSearch; //存储近邻索引
std::vector<float> pointRadiusSquaredDistance; //存储近邻对应距离的平方 float radius = 256.0f * rand () / (RAND_MAX + 1.0f); //随机的生成某一半径
//打印输出
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) > ) //执行半径R内近邻搜索方法
{
for (size_t i = ; 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;
} return ;
}
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