CloudCompare插件开发之如何将点云文件打开、处理并显示？-Toy模板网

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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
点云文件怎么打开,CloudCompare,c++,git,github,qt,visualstudio
（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 <QtGui>
#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<QVector3D>* vq = new std::vector<QVector3D>();
	int countOne = 0;
	stream.seek(0);
	QStringList strs = (stream.readAll()).split('\n');
	for (size_t i = 0; i < strs.size(); i++)
	{
		qsl = strs.takeAt(i).split(',');
		if (qsl.size() != 3) continue;
		QVector3D* qv3d = new QVector3D(qsl.at(0).toFloat(), qsl.at(1).toFloat(), qsl.at(2).toFloat());
		vq->push_back(*qv3d);
	}
	file.close();

	//将点云文件保存到CloudCompare（cc）标准数据集
	ccPointCloud* myPc = new ccPointCloud(QString("myPc"));
	myPc->reserve(vq->size());
	for (size_t i = 0; i < vq->size(); 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 < 0 || 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<ccHObject*> allCloud;

	//随机数
	qsrand(QTime(0, 0, 0).secsTo(QTime::currentTime()));

	for (size_t i = 0; i < selNum; i++)
	{
		//ccHObject* ent = selectedEntities[i];//此处为选择已有点云的操作
		ccHObject* ent = myPc;

	if (!ent->isA(CC_TYPES::POINT_CLOUD)) {
		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<size_t> 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<double> m_value;

	for (size_t i = 0; i < m_index.size(); i++)
	{
		CCVector3 P;
		cloud->getPoint(m_index[i], P);
		double temp = (P - weight).dot(dir);
		m_value.push_back(temp);
	}
	//对m_index进行排序
	std::sort(m_index.begin(), m_index.end(), [&m_value](auto i1, auto i2) {return m_value[i1] < m_value[i2];});
	m_index.erase(m_index.begin(), m_index.begin() + (1 - percentage)*cloud->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 < m_index.size(); i++)
	{
		pcc->addPoint(*cloud->getPoint(m_index[i]));
		//pcc->addNorm(cloud->getPointNormal(m_index[i]));//分配法向量内存，本环境报错
	}

	allCloud.push_back(pcc);
	progressCb->update((float)100.0*i / selNum);
	}

	if (progressCb) {
		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 < allCloud.size(); i++)
	{
		CloudGroup->addChild(allCloud[i]);
	}
	m_app->addToDB(CloudGroup);
	//刷新
	m_app->refreshAll();
	m_app->updateUI();

	// This is how you can output messages
	 Display a standard message in the console
	//QString show = QString::number(selNum) + "," + s_percentage + "," + QString::number(percentage);
	//m_app->dispToConsole(show, ccMainAppInterface::STD_CONSOLE_MESSAGE);

	 Display a warning message in the console
	//m_app->dispToConsole("[MySecondPlugin] Warning: example plugin shouldn't be used as is", ccMainAppInterface::WRN_CONSOLE_MESSAGE);

	 Display an error message in the console AND pop-up an error box
	//m_app->dispToConsole("Example plugin shouldn't be used - it doesn't do anything!", ccMainAppInterface::ERR_CONSOLE_MESSAGE);

	/*** HERE ENDS THE ACTION ***/
}

参考资料：
[1] cacrle. CloudCompare如何进行二次开发之插件开发？; 2023-03-11 [ accessed 2023-03-26 ].
[2] 点云PCL. CloudCompare插件开发教程; 2020-06-20 [ accessed 2023-03-26 ].文章来源地址https://www.toymoban.com/news/detail-676479.html

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