CloudCompare插件开发之如何将点云文件打开、处理并显示？

2023-03-14 05:19| 来源: 网络整理| 查看: 265

文章目录 0、引言1、将点云文件打开、处理并显示的效果2、代码实现

0、引言

CloudCompaer是一款优秀的开源软件，在点云处理时可以根据实际要求开发合适的插件，本文需求是将点云文件打开、处理并显示，网上资源可以找到点云简单处理和显示的代码，但对于文件打开的源代码几乎没有，本文通过查阅大量资料和研究源代码实现了点云文件打开，从而达到本文将点云文件打开、处理并显示的目标。本文是CloudCompare插件开发的拓展篇，关于插件开发基础可以参考：CloudCompare如何进行二次开发之插件开发？

1、将点云文件打开、处理并显示的效果

（1）CloudCompare自带打开功能打开点云初始文件在这里插入图片描述（2）插件打开点云初始文件、处理并显示

2、代码实现

（1）引用的命名空间

#include #include "MySecondPlugin.h" #include "qinputdialog.h" #include "ccProgressDialog.h" #include "ccPointCloud.h"

（2）设置插件按钮不用选择点云即可使用

void MySecondPlugin::onNewSelection(const ccHObject::Container &selectedEntities) { if (m_action == nullptr) { return; } // If you need to check for a specific type of object, you can use the methods // in ccHObjectCaster.h or loop and check the objects' classIDs like this: // // for ( ccHObject *object : selectedEntities ) // { // if ( object->getClassID() == CC_TYPES::VIEWPORT_2D_OBJECT ) // { // // ... do something with the viewports // } // } // For example - only enable our action if something is selected. //m_action->setEnabled(!selectedEntities.empty()); m_action->setEnabled(true);//设置插件按钮不用选择点云即可使用 }

（3）点云文件打开、处理并显示代码

void MySecondPlugin::doAction() { if (m_app == nullptr) { // m_app should have already been initialized by CC when plugin is loaded Q_ASSERT(false); return; } /*** HERE STARTS THE ACTION ***/ // Put your code here // --> you may want to start by asking for parameters (with a custom dialog, etc.) /* * 点云格式为：x,y,z * */ //【打开文件】将数据预处理到点云文件 //打开文件选择对话框 char szFileName[MAX_PATH] = { 0 }; OPENFILENAME openFileName = { 0 }; openFileName.lStructSize = sizeof(OPENFILENAME); openFileName.nMaxFile = MAX_PATH; openFileName.lpstrFilter = "csv文件(*.csv)\0*.csv\0所有文件(*.*)\0*.*\0\0"; openFileName.lpstrFile = szFileName; openFileName.nFilterIndex = 1; openFileName.Flags = OFN_PATHMUSTEXIST | OFN_FILEMUSTEXIST; if (!::GetOpenFileName(&openFileName))return; //打开点云文件 const QString fileName = openFileName.lpstrFile; QFile file(fileName); if (!file.open(QIODevice::ReadOnly))return; QTextStream stream(&file); QStringList qsl; std::vector* vq = new std::vector(); int countOne = 0; stream.seek(0); QStringList strs = (stream.readAll()).split('\n'); for (size_t i = 0; i const CCVector3* vcc = new CCVector3(vq->at(i).x(), vq->at(i).y(), vq->at(i).z()); myPc->addPoint(*vcc); } //【点云处理】指定参数切割部分点云得到点云 //const ccHObject::Container& selectedEntities = m_app->getSelectedEntities();//此处为选择已有点云的操作 //size_t selNum = selectedEntities.size();//此处为选择已有点云的操作 size_t selNum = 1; //传入参数 bool isOK; QString s_percentage = QInputDialog::getText(NULL, QString::fromLocal8Bit("参数"), QString::fromLocal8Bit("输入留下点的百分比0-1"), QLineEdit::Normal, "", &isOK); if (!isOK) { ccLog::Print("error"); return; } //留下点的个数 double percentage = s_percentage.toDouble(); if (percentage 1) { ccLog::Print("error percentage allow 0-1"); return; } //加个进度条 ccProgressDialog pDlg(true, 0); CCLib::GenericProgressCallback* progressCb = &pDlg; if (progressCb) { if (progressCb->textCanBeEdited()) { progressCb->setMethodTitle("compute"); progressCb->setInfo(qPrintable(QString("waiting..."))); } progressCb->update(0); progressCb->start(); } std::vector allCloud; //随机数 qsrand(QTime(0, 0, 0).secsTo(QTime::currentTime())); for (size_t i = 0; i continue; } //ccPointCloud* cloud = ccHObjectCaster::ToPointCloud(selectedEntities[i]);//此处为选择已有点云的操作 ccPointCloud* cloud = myPc; //计算点云中心 CCVector3 weight; CCVector3 bmin, bmax; cloud->getBoundingBox(bmin, bmax); weight = (bmin + bmax) / 2; //遍历索引 std::vector m_index(cloud->size()); //以递增的方式填充 std::iota(m_index.begin(), m_index.end(), 0); //随机一个方向 double theta = M_PI*(double)qrand() / (double)(RAND_MAX + 1); double phi = 2 * M_PI*(double)qrand() / (double)(RAND_MAX + 1); CCVector3 dir(sin(theta)*cos(phi), sin(theta)*sin(phi), cos(theta)); std::vector m_value; for (size_t i = 0; i return m_value[i1] size()); //新点云 //ccPointCloud* pcc = new ccPointCloud(QString("cq") + cloud->getName()); ccPointCloud* pcc = new ccPointCloud(cloud->getName() + QString("-Clone")); pcc->reserve(m_index.size()); //pcc->reserveTheNormsTable();//分配法向量内存，本环境报错 for (size_t i = 0; i progressCb->stop(); } //【显示点云】 //新建一个文件夹来放点云 ccHObject* CloudGroup = new ccHObject(QString("CloudGroup")); for (size_t i = 0; i

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