CloudCompare——计算点云的八叉树并可视化

本文由CSDN点云侠原创，原文链接。爬虫网站自重。博客长期更新，本文最新更新时间为：2023年8月10日。

1.Octree

  通过菜单栏的'Edit > Octree > Compute'找到该功能。

设置相关参数：

  八叉树空间区段可以通过多种方式设置:

• Default:包含实体的最小立方体
• cell size at max level:用户可以在最小的细分级别上定义单元格大小为$N$，那么八叉树的体素个数则为$2^N$。
• Custom bounding box：用户可以使用专用的子对话框定义自定义边界框。

  最大八叉树级别(或细分的数量)在32位版本中是$N$=10，在64位版本中是$N$=21。
注意:这个操作通常是不必要的(即八叉树计算是由CloudCompare在必要时自动完成的)。

  CloudCompare默认以面片的形式显示mesh网格模型，因此放大之后也看不到所谓的“网格”

2.可视化八叉树

  选中Octree，可以看到显示的是默认的包含实体的最小包围框


  在属性选项中，设置八叉树的显示层级，操作如下：

  以线框的形式显示八叉树，八叉树的层级为：4。

  以面片的形式显示八叉树。


  以点的形式显示八叉树，看不出来效果。不做展示。

3.CC源码

bool computeOctree(const ccHObject::Container &selectedEntities, QWidget *parent)
	{
		ccBBox bbox;
		std::unordered_set<ccGenericPointCloud*> clouds;
		PointCoordinateType maxBoxSize = -1;
		for (ccHObject* ent : selectedEntities)
		{
			//specific test for locked vertices
			bool lockedVertices = false;
			ccGenericPointCloud* cloud = ccHObjectCaster::ToGenericPointCloud(ent, &lockedVertices);
			
			if (cloud == nullptr)
			{
			   continue;
			}
			
			if (lockedVertices)
			{
				ccUtils::DisplayLockedVerticesWarning(ent->getName(), selectedEntities.size() == 1);
				continue;
			}
			clouds.insert(cloud);

			//we look for the biggest box so as to define the "minimum cell size"
			const ccBBox thisBBox = cloud->getOwnBB();
			if (thisBBox.isValid())
			{
				CCVector3 dd = thisBBox.maxCorner() - thisBBox.minCorner();
				PointCoordinateType maxd = std::max(dd.x, std::max(dd.y, dd.z));
				if (maxBoxSize < 0.0 || maxd > maxBoxSize)
					maxBoxSize = maxd;
			}
			bbox += thisBBox;
		}

		if (clouds.empty() || maxBoxSize < 0.0)
		{
			ccLog::Warning("[doActionComputeOctree] No eligible entities in selection!");
			return false;
		}

		//min(cellSize) = max(dim)/2^N with N = max subidivision level
		const double minCellSize = static_cast<double>(maxBoxSize) / (1 << ccOctree::MAX_OCTREE_LEVEL);

		ccComputeOctreeDlg coDlg(bbox, minCellSize, parent);
		if (!coDlg.exec())
			return false;

		ccProgressDialog pDlg(true, parent);
		pDlg.setAutoClose(false);

		//if we must use a custom bounding box, we update 'bbox'
		if (coDlg.getMode() == ccComputeOctreeDlg::CUSTOM_BBOX)
			bbox = coDlg.getCustomBBox();

		for (const auto cloud : clouds)
		{
			//we temporarily detach entity, as it may undergo
			//"severe" modifications (octree deletion, etc.) --> see ccPointCloud::computeOctree
			ccMainAppInterface* instance = dynamic_cast<ccMainAppInterface*>(parent);
			ccMainAppInterface::ccHObjectContext objContext;
			if (instance)
				objContext = instance->removeObjectTemporarilyFromDBTree(cloud);

			//computation
			QElapsedTimer eTimer;
			eTimer.start();
			ccOctree::Shared octree(nullptr);
			switch (coDlg.getMode())
			{
			case ccComputeOctreeDlg::DEFAULT:
				octree = cloud->computeOctree(&pDlg);
				break;
			case ccComputeOctreeDlg::MIN_CELL_SIZE:
			case ccComputeOctreeDlg::CUSTOM_BBOX:
			{
				//for a cell-size based custom box, we must update it for each cloud!
				if (coDlg.getMode() == ccComputeOctreeDlg::MIN_CELL_SIZE)
				{
					double cellSize = coDlg.getMinCellSize();
					PointCoordinateType halfBoxWidth = static_cast<PointCoordinateType>(cellSize * (1 << ccOctree::MAX_OCTREE_LEVEL) / 2.0);
					CCVector3 C = cloud->getOwnBB().getCenter();
					bbox = ccBBox(	C - CCVector3(halfBoxWidth, halfBoxWidth, halfBoxWidth),
									C + CCVector3(halfBoxWidth, halfBoxWidth, halfBoxWidth));
				}
				cloud->deleteOctree();
				octree = ccOctree::Shared(new ccOctree(cloud));
				if (octree->build(bbox.minCorner(), bbox.maxCorner(), nullptr, nullptr, &pDlg) > 0)
				{
					ccOctreeProxy* proxy = new ccOctreeProxy(octree);
					proxy->setDisplay(cloud->getDisplay());
					cloud->addChild(proxy);
				}
				else
				{
					octree.clear();
				}
			}
			break;
			default:
				Q_ASSERT(false);
				return false;
			}
			qint64 elapsedTime_ms = eTimer.elapsed();

			//put object back in tree
			if (instance)
				instance->putObjectBackIntoDBTree(cloud, objContext);

			if (octree)
			{
				ccConsole::Print("[doActionComputeOctree] Timing: %2.3f s", static_cast<double>(elapsedTime_ms) / 1000.0);
				cloud->setEnabled(true); //for mesh vertices!
				ccOctreeProxy* proxy = cloud->getOctreeProxy();
				assert(proxy);
				proxy->setVisible(true);
				proxy->prepareDisplayForRefresh();
			}
			else
			{
				ccConsole::Warning(QString("Octree computation on cloud '%1' failed!").arg(cloud->getName()));
			}
		}

		return true;
	}

4.相关代码

[1] PCL 可视化八叉树
[2] Open3D 从点云中构建八叉树
[3] Open3D (C++) 八叉树的使用