最近开始学习PCL库，出师不利，一开始就踩了个坑。PCL库的visualization不能同时开两个CloudViewer，一开就报错，但是不开两个我怎么比较处理前和处理后的数据呢？不得不放弃使用CloudViewer，自己用OSG写了一个类似的东西，废话多不说，请看代码：
PointCloudViewer.h
#pragma once
namespace osg
{
class Group;
class Geometry;
class Program;
}
namespace osgViewer
{
class Viewer;
}
class PointCloudViewer
{
public:
enum ColorMode
{
// 按数据的Z值大小显示不同的颜色
HeightColor = 0,
// 显示数据自带的颜色
DataColor = 1,
// 把数据自带的颜色处理成黑白进行显示
GrayColor = 2,
// 按强度着色
IntensityColor = 3,
};
typedef pcl::PointCloud<pcl::PointXYZRGBA>::Ptr DataType;
public:
struct NodeData
{
osg::ref_ptr<osg::Geometry> geometry;
osg::ref_ptr<osg::Geode> geode;
osg::ref_ptr<osg::Program> shader;
std::map<std::string, osg::ref_ptr<osg::Uniform>> shaderParameters;
};
public:
PointCloudViewer();
virtual ~PointCloudViewer();
public:
void showCloud(pcl::PointCloud<pcl::PointXYZRGBA>::Ptr data);
void setColorMode(ColorMode colorMode);
void setColorMode(const DataType& data, ColorMode colorMode);
void setDepthCheck(const DataType& data, bool enabled);
NodeData* getNodeData(const DataType& data);
bool isDone() const;
void renderFrame();
private:
void initOsg();
private:
std::map<DataType, NodeData> mDatas;
osg::ref_ptr<osg::Group> mRoot;
osg::ref_ptr<osgViewer::Viewer> mViewer;
};PointCloudViewer.cpp
#include "pch.h"
#include "PointCloudViewer.h"
#include "Shaders.h"
PointCloudViewer::PointCloudViewer()
{
initOsg();
}
PointCloudViewer::~PointCloudViewer()
{
}
void PointCloudViewer::initOsg()
{
//创建Viewer对象，场景浏览器
mViewer = new osgViewer::Viewer();
mViewer->setThreadingModel(osgViewer::Viewer::SingleThreaded);
//设置图形环境特性
osg::ref_ptr<osg::GraphicsContext::Traits> traits = new osg::GraphicsContext::Traits();
traits->x = 0;
traits->y = 0;
traits->width = 640;
traits->height = 480;
traits->windowDecoration = true;
traits->doubleBuffer = true;
traits->sharedContext = 0;
traits->vsync = false;
//创建图形环境特性
osg::ref_ptr<osg::GraphicsContext> gc = osg::GraphicsContext::createGraphicsContext(traits.get());
if (gc.valid())
{
osg::notify(osg::INFO) << " GraphicsWindow has been created successfully." << std::endl;
//清除窗口颜色及清除颜色和深度缓冲
gc->setClearColor(osg::Vec4f(0.2f, 0.2f, 0.6f, 1.0f));
gc->setClearMask(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
}
else
{
osg::notify(osg::NOTICE) << " GraphicsWindow has not been created successfully." << std::endl;
}
//根据分辨率来确定合适的投影来保证显示的图形不变形
double newAspectRatio = double(traits->width) / double(traits->height);
mViewer->getCamera()->setProjectionMatrixAsPerspective(60, newAspectRatio, 1.0, 5000000);
//设置视口
mViewer->getCamera()->setViewport(new osg::Viewport(0, 0, traits->width, traits->height));
//设置图形环境
mViewer->getCamera()->setGraphicsContext(gc.get());
auto manipulator = new osgGA::TrackballManipulator();
manipulator->setAllowThrow(false);
//manipulator->setWheelZoomFactor(-1);
mViewer->setCameraManipulator(manipulator);
mViewer->addEventHandler(new osgViewer::StatsHandler());
//创建场景组节点
mRoot = new osg::Group();
mViewer->setSceneData(mRoot.get());
}
void PointCloudViewer::showCloud(pcl::PointCloud<pcl::PointXYZRGBA>::Ptr data)
{
using namespace osg;
NodeData nodeData;
// 创建几何体
ref_ptr<Geometry> geometry = new Geometry();
ref_ptr<Vec3Array> vertex = new Vec3Array();
ref_ptr<Vec4Array> color = new Vec4Array();
long long count = data->size();
vertex->resize(count);
color->resize(count);
const pcl::PointXYZRGBA* pData = data->data();
Vec3* pVertex = vertex->asVector().data();
Vec4* pColor = color->asVector().data();
#pragma omp parallel for
for (long long i = 0; i < count; i++)
{
pVertex[i].set(pData[i].x, pData[i].y, pData[i].z);
pColor[i].set(pData[i].r / 255.0f, pData[i].g / 255.0f, pData[i].b / 255.0f, pData[i].a / 255.0f);
}
geometry->setVertexArray(vertex);
geometry->setColorArray(color, Array::BIND_PER_VERTEX);
geometry->addPrimitiveSet(new DrawArrays(PrimitiveSet::POINTS, 0, count));
// 创建叶子节点
ref_ptr<Geode> geode = new Geode();
geode->addDrawable(geometry);
osg::StateSet * ss = geode->getOrCreateStateSet();
ss->setMode(GL_LIGHTING, osg::StateAttribute::OFF);
// 启用Shader
osg::ref_ptr<osg::Program> program = new osg::Program();
bool vsAdded = program->addShader(new osg::Shader(osg::Shader::VERTEX, vs_PointCloudRender));
bool psAdded = program->addShader(new osg::Shader(osg::Shader::FRAGMENT, ps_PointCloudRender));
if (vsAdded && psAdded)
{
auto boundBox = geode->getBoundingBox();
osg::ref_ptr<osg::Uniform> heightMin = new osg::Uniform("heightMin", boundBox.zMin());
osg::ref_ptr<osg::Uniform> heightMax = new osg::Uniform("heightMax", boundBox.zMax());
osg::ref_ptr<osg::Uniform> renderType = new osg::Uniform("renderType", DataColor);
osg::ref_ptr<osg::Uniform> colorMin = new osg::Uniform("colorMin", osg::Vec4(1, 0, 0, 1));
osg::ref_ptr<osg::Uniform> colorMax = new osg::Uniform("colorMax", osg::Vec4(0, 1, 0, 1));
ss->addUniform(heightMin);
ss->addUniform(heightMax);
ss->addUniform(renderType);
ss->addUniform(colorMin);
ss->addUniform(colorMax);
ss->setAttributeAndModes(program, osg::StateAttribute::ON);
nodeData.shaderParameters["heightMin"] = heightMin;
nodeData.shaderParameters["heightMax"] = heightMax;
nodeData.shaderParameters["renderType"] = renderType;
nodeData.shaderParameters["colorMin"] = colorMin;
nodeData.shaderParameters["colorMax"] = colorMax;
}
// 加入场景
mRoot->addChild(geode);
// 设置相机初始位置
auto bound = mRoot->computeBound();
auto manipulator = mViewer->getCameraManipulator();
if (manipulator)
{
osgGA::TrackballManipulator* trackballManipulator =
dynamic_cast<osgGA::TrackballManipulator*>(manipulator);
if (trackballManipulator)
{
osg::Vec3 eye(bound.radius() + 1, bound.radius() / 2, 0);
trackballManipulator->setTransformation(eye, bound.center(), osg::Vec3(0, 1, 0));
}
}
nodeData.geometry = geometry;
nodeData.geode = geode;
nodeData.shader = program;
mDatas.insert(std::make_pair(data, nodeData));
}
void PointCloudViewer::setColorMode(ColorMode colorMode)
{
for (auto it = mDatas.begin(); it != mDatas.end(); it++)
{
const NodeData& nd = it->second;
auto itFound = nd.shaderParameters.find("renderType");
if (itFound != nd.shaderParameters.end())
{
itFound->second->set((int)colorMode);
}
}
}
void PointCloudViewer::setColorMode(const DataType& data, ColorMode colorMode)
{
auto itData = mDatas.find(data);
if (itData != mDatas.end())
{
auto itUniform = itData->second.shaderParameters.find("renderType");
if (itUniform != itData->second.shaderParameters.end())
{
itUniform->second->set((int)colorMode);
}
}
}
bool PointCloudViewer::isDone() const
{
if (mViewer)
{
return mViewer->done();
}
return false;
}
void PointCloudViewer::renderFrame()
{
if (mViewer)
{
mViewer->frame();
}
}
void PointCloudViewer::setDepthCheck(const DataType& data, bool enabled)
{
auto itData = mDatas.find(data);
if (itData != mDatas.end())
{
NodeData& data = itData->second;
data.geode->getOrCreateStateSet()->setMode(GL_DEPTH_TEST, osg::StateAttribute::OFF);
}
}
PointCloudViewer::NodeData* PointCloudViewer::getNodeData(const DataType& data)
{
auto itData = mDatas.find(data);
if (itData != mDatas.end())
{
return &itData->second;
}
return nullptr;
}
使用方法
#include <iostream>
#include <thread>
#include <chrono>
#include <pcl/point_types.h>
#include <pcl/filters/passthrough.h>
#define WINGDIAPI
#include <osgDB/ReadFile>
#include <osgViewer/Viewer>
#include "LasLoader.h"
#include "pclColor.h"
#include "PointCloudViewer.h"
int main()
{
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud = LasLoader::loadLas("420-432_realColor_small_Cloud.las");
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZRGBA>());
// Create the filtering object
pcl::PassThrough<pcl::PointXYZRGBA> pass;
pass.setInputCloud(cloud);
pass.setFilterFieldName("z");
pass.setFilterLimits(0.0, 50.0);
//pass.setFilterLimitsNegative (true);
pass.filter(*cloud_filtered);
long long count = cloud_filtered->size();
pcl::PointXYZRGBA* data = cloud_filtered->data();
#pragma omp parallel for
for (long long i = 0; i < count; i++)
{
data[i].rgba = fromRgba(255, 255, 0, 255);
}
PointCloudViewer viewer;
viewer.showCloud(cloud);
PointCloudViewer viewer2;
viewer2.showCloud(cloud_filtered);
while (viewer.isDone() == false || viewer2.isDone() == false)
{
if (viewer.isDone() == false)
{
viewer.renderFrame();
}
if (viewer2.isDone() == false)
{
viewer2.renderFrame();
}
}
return (0);
}LasLoader是我自己写的加载LAS数据的类，代码如下：
#include <iostream>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/common/io.h>
#include "LasLoader.h"
#include "liblas/liblas.hpp"
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr LasLoader::loadLas(const char* lasFilePath)
{
//打开las文件
std::ifstream ifs;
ifs.open(lasFilePath, std::ios::in | std::ios::binary);
if (!ifs.is_open())
{
std::cout << "无法打开.las" << std::endl;
return nullptr;
}
liblas::ReaderFactory readerFactory;
liblas::Reader reader = readerFactory.CreateWithStream(ifs);
const liblas::Header& lasHeader = reader.GetHeader();
double minX = lasHeader.GetMinX();
double minY = lasHeader.GetMinY();
double minZ = lasHeader.GetMinZ();
//写点云
pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloudOutput(new pcl::PointCloud<pcl::PointXYZRGBA>());
cloudOutput->reserve(lasHeader.GetPointRecordsCount());
pcl::PointXYZRGBA thePt;
while (reader.ReadNextPoint())
{
const liblas::Point& lasPoint = reader.GetPoint();
const liblas::Color& lasColor = lasPoint.GetColor();
double x = lasPoint.GetX() - minX;
double y = lasPoint.GetY() - minY;
double z = lasPoint.GetZ() - minZ;
uint16_t red = lasColor.GetRed();
uint16_t green = lasColor.GetGreen();
uint16_t blue = lasColor.GetBlue();
/*****颜色说明
* uint16_t 范围为0-256*256 ；
* pcl 中 R G B利用的unsigned char 0-256；
* 因此这里将uint16_t 除以256 得到 三位数的0-256的值
* 从而进行rgba 值32位 的位运算。
*
******/
thePt.x = x;
thePt.y = y;
thePt.z = z;
if (red == 0 && green == 0 && blue == 0)
{
thePt.rgba = 0xFFFFFFFF;
}
else
{
thePt.rgba = (uint32_t)255 << 24 | (uint32_t)(red / 256) << 16 | (uint32_t)(green / 256) << 8 | (uint32_t)(blue / 256);
}
cloudOutput->push_back(thePt);
}
return cloudOutput;
}OsgVisualizer完整代码下载
OsgVisualizer.rar
代码在vcpkg+VS2017+Win7下编译通过，vcpkg需安装OSG、PCL包。
芸芸小站首发，阅读原文：http://www.xiaoyunyun.net/index.php/archives/185.html
