python点云融合

文章目录

• 0.引言
• 1.修改两个CMakeLists.txt文件
• 2.源码编译
• 3.测试PCL

0.引言

  因笔者课题涉及点云处理，需要通过PCL进行点云数据分析处理，查阅现有网络资料，实现了VisualStudio2015(x86)配置PCL1.8.1点云库（见：VisualStudio如何配置PCL点云库？）。而笔者对CloudCompare二次开发较为熟悉，希望在CloudCompare中使用PCL进行点云处理，所以本文在VS配置PCL成功的基础上，实现CloudCompare-2.10.x对PCL的配置，并记录了实现配置的过程。

1.修改两个CMakeLists.txt文件

  （1）修改CloudCompare-2.10.x源文件目录下的CMakeLists.txt

  

# PCL
option( OPTION_BUILD_PCL "Check to add PCL 3rdParty" ON )  
if ( OPTION_BUILD_PCL )  
    find_package(PCL REQUIRED)  
    include_directories( ${PCL_INCLUDE_DIRS} )  
    message(${PCL_INCLUDE_DIRS})  
    link_directories( ${PCL_LIBRARY_DIRS} )  
    message(${PCL_LIBRARY_DIRS})  
    add_definitions( ${PCL_DEFINITIONS} )  
endif()

  （2）修改CloudCompare-2.10.x源文件的CC目录下的CMakeLists.txt

  ①找到CMakeLists.txt，并打开

  

  ②添加PCL配置

  

option( COMPILE_CC_CORE_LIB_WITH_PCL "Check to compile CC_CORE_LIB with PCL" ON) # 添加PCL配置

  ③添加PCL环境

  

# PCL环境
if(COMPILE_CC_CORE_LIB_WITH_PCL)  
    find_package(PCL REQUIRED)  
  include_directories( ${PCL_INCLUDE_DIRS} )  
  
    #define the PCL_VER_1_8_OR_OLDER preprocessor to compile qPCL with older versions of PCL  
    if ( PCL_VERSION VERSION_LESS  1.8 ) # VERSION_GREATER Works just like "greater or equal"  
        set_property( TARGET ${PROJECT_NAME} APPEND PROPERTY COMPILE_DEFINITIONS PCL_VER_1_8_OR_OLDER )  
  
    endif()  
    # Luca's PCL patch support  
    if( PCL_VERSION VERSION_GREATER  1.7 ) #from 1.7 the patch was merged  
        set_property( TARGET ${PROJECT_NAME} APPEND PROPERTY COMPILE_DEFINITIONS LP_PCL_PATCH_ENABLED )  
  
    endif()  
    link_directories( ${PCL_LIBRARY_DIRS} )  
    add_definitions( ${PCL_DEFINITIONS} )  
    target_link_libraries( ${PROJECT_NAME} ${PCL_LIBRARIES})                #指定目标在运行时要寻找的链接库  
endif()

2.源码编译

  在Cmake中进行配置，会生成PCL相关的文件，并勾选COMPILE_CC_CORE_LIB_WITH_PCL。

  

  

3.测试PCL

  （1）修改mainwindow.ui文件

  ①设计按钮

  

  ②编译.ui

  

  （2）修改mainwindow.h文件

  

//点云滤波
void doActionPCLUniformSample(); // 均匀采样

  （3）修改mainwindow.cpp文件

  ①添加均匀采样头文件

  

#include <pcl/keypoints/uniform_sampling.h>          // 均匀采样

  ②添加均匀采样实现代码

  

// 均匀采样
void MainWindow::doActionPCLUniformSample()  
{  
    if (getSelectedEntities().size() != 1)  
    {  
        ccLog::Print(QStringLiteral("只能选择一个点云实体"));  
        return;  
    }  
    ccHObject* entity = getSelectedEntities()[0];  
    ccPointCloud* ccCloud = ccHObjectCaster::ToPointCloud(entity);  
    // ---------------------------读取数据到PCL----------------------------------  
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);  
    cloud->resize(ccCloud->size());  
    for (int i = 0; i < cloud->size(); ++i)  
    {  
        const CCVector3* point = ccCloud->getPoint(i);  
        cloud->points[i].x = point->x;  
        cloud->points[i].y = point->y;  
        cloud->points[i].z = point->z;  
    }  
    // -----------------------------对话框---------------------------------------  
    float radius = QInputDialog::getDouble(this, QStringLiteral("参数设置"), QStringLiteral("搜索半径: "), 0.005, 0, 100, 4);  
    // ----------------------------均匀采样--------------------------------------  
    pcl::PointCloud<pcl::PointXYZ>::Ptr filtered(new pcl::PointCloud<pcl::PointXYZ>);  
    pcl::UniformSampling<pcl::PointXYZ> us;  
    us.setInputCloud(cloud);  
    us.setRadiusSearch(radius);  
    us.filter(*filtered);  
    // ------------------------PCL->CloudCompare--------------------------------  
    if (!filtered->empty())  
    {  
        ccPointCloud* newPointCloud = new ccPointCloud(QString("UniformSample"));  
        for (int i = 0; i < filtered->size(); ++i)  
        {  
            double x = filtered->points[i].x;  
            double y = filtered->points[i].y;  
            double z = filtered->points[i].z;  
            newPointCloud->addPoint(CCVector3(x, y, z));  
        }  
        newPointCloud->setRGBColor(ccColor::Rgba(rand() % 255, rand() % 255, 0, 255));  
        newPointCloud->showColors(true);  
        if (ccCloud->getParent())  
        {  
            ccCloud->getParent()->addChild(newPointCloud);  
        }  
        ccCloud->setEnabled(false);  
        addToDB(newPointCloud);  
        refreshAll();  
        updateUI();  
    }  
    else  
    {  
        ccCloud->setEnabled(true);  
        // Display a warning message in the console  
        dispToConsole("Warning: example shouldn't be used as is", ccMainAppInterface::WRN_CONSOLE_MESSAGE);  
    }  
}

  ③添加信号槽函数

  

connect(m_UI->actionsample, &QAction::triggered, this, &MainWindow::doActionPCLUniformSample);

  （4）生成

  

  （5）结果展示

  ①原始点云

  

  ②采样后的点云（相比原始点云，变稀了）