open3d cpp example CropPolygonFromJson

最新推荐文章于 2024-04-16 09:45:00 发布

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最新推荐文章于 2024-04-16 09:45:00 发布

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分类专栏： SLAM+SFM 文章标签： c++ open3d

本文链接：https://blog.csdn.net/baidu_40840693/article/details/123533399

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该博客介绍了如何利用Open3D库读取PLY格式的3D点云数据，并进行点云裁剪操作。通过Eigen库进行数据处理，最后用Open3D进行可视化展示。博客中还涉及到了Windows环境下处理动态链接库的问题。

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cmakelist.txt

cmake_minimum_required(VERSION 3.19)
set (CMAKE_CXX_STANDARD 14)

project(TestVisualizer)

# Find installed Open3D, this imports
#   Open3D_INCLUDE_DIRS
#   Open3D_LIBRARIES
#   Open3D_LIBRARY_DIRS
#   Open3D_C_FLAGS
#   Open3D_CXX_FLAGS
#   Open3D_EXE_LINKER_FLAGS
set(Open3D_DIR "~/open3d_dg_0.9.0/install/lib/cmake/Open3D")
if(WIN32)
    find_package(Open3D HINTS ${CMAKE_INSTALL_PREFIX}/CMake)
else()
    find_package(Open3D HINTS ${CMAKE_INSTALL_PREFIX}/lib/CMake)
    list(APPEND Open3D_LIBRARIES dl)
endif()

# EIGEN3
find_package(Eigen3 REQUIRED)

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${Open3D_C_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${Open3D_CXX_FLAGS}")
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${Open3D_EXE_LINKER_FLAGS}")

# Set OS-specific things here
if(WIN32)
elseif(CYGWIN)
elseif(APPLE)
elseif(UNIX)
    add_definitions(-DUNIX)
    add_compile_options(-Wno-deprecated-declarations)
    add_compile_options(-Wno-unused-result)
    add_definitions(-O3)
endif(WIN32)

# Open3D
if (Open3D_FOUND)
    message(STATUS "Found Open3D ${Open3D_VERSION}")

    # link_directories must be before add_executable
    link_directories(${Open3D_LIBRARY_DIRS})

    add_executable(open3d_demo1 main3.cpp)

    target_link_libraries(open3d_demo1 ${Open3D_LIBRARIES})

    target_include_directories(open3d_demo1 PUBLIC ${Open3D_INCLUDE_DIRS})
    # EIGEN3
    target_include_directories(open3d_demo1 PUBLIC ${EIGEN3_INCLUDE_DIR})

    # Hot fix windows dll not found issue, assumming we're using the Release build
    option(BUILD_SHARED_LIBS "Whether Open3D was build as shared library" OFF)
    if(WIN32 AND BUILD_SHARED_LIBS)
        message("Will copy Open3D.dll to ${CMAKE_CURRENT_BINARY_DIR}/Release")
        add_custom_command(TARGET open3d_demo1 POST_BUILD
                COMMAND ${CMAKE_COMMAND} -E copy
                ${CMAKE_INSTALL_PREFIX}/bin/Open3D.dll
                ${CMAKE_CURRENT_BINARY_DIR}/Release)
    endif()

else ()
    message(SEND_ERROR "Open3D not found")
endif ()

#include <iostream>
#include <memory>
#include <thread>
#include <Eigen/Dense>
#include <Open3D/Open3D.h>
using namespace open3d;

int main() {

    auto ply_filename = "~//Crop/fragment.ply";
    auto source_ptr = std::make_shared<geometry::PointCloud>();
    auto target_ptr = std::make_shared<geometry::PointCloud>();
    if (io::ReadPointCloud(ply_filename, *source_ptr)) {
        utility::LogInfo("Successfully read {}\n", ply_filename);
    } else {
        utility::LogWarning("Failed to read {}\n\n", ply_filename);
        return 1;
    }
    source_ptr->NormalizeNormals();

    auto json_filename = "~/Crop/cropped.json";
    auto polygon_volume = std::make_shared<visualization::SelectionPolygonVolume>();
    // Open3D_0.9/Open3D/src/Open3D/Visualization/Utility/SelectionPolygonVolume.cpp
    // ConvertToJsonValue
    // CropInPolygon  orthogonal_axis_

    bool flag = io::ReadIJsonConvertible(json_filename,*polygon_volume);

    bool print_debug = true;
    bool vis_debug = true;
    if (print_debug==true)
    {
        std::cout<< json_filename << std::endl;
        std::cout<< "flag_ReadIJsonConvertible: " << flag << std::endl;
        std::cout<< "bounding_polygon_.size(): " << polygon_volume->bounding_polygon_.size() << std::endl;
        for(int i=0; i < polygon_volume->bounding_polygon_.size(); i++){
            Eigen::Vector3d matrix_temp = polygon_volume->bounding_polygon_[i];
            //std::cout << "matrix: " << std::endl << matrix_temp  << std::endl;
        }
    }

    target_ptr = polygon_volume->CropPointCloud(*source_ptr);

    if (vis_debug==true)
    {
        visualization::DrawGeometries({source_ptr}, "PointCloud1", 1600, 900);
        visualization::DrawGeometries({target_ptr}, "PointCloud2", 1600, 900);
    }

    return 0;
}