cloudCompare插件开发——保存点云颜色

一. 插件介绍

该插件用于保存用户选中的点云实体，导出为txt文件，仅记录点云的坐标以及颜色。

二. 主要代码

1. 获取点云对象

//获取选中的点云对象
	ccHObject::Container container = m_app->getSelectedEntities();
	ccHObject *entity= container[0];
	if (!entity || !entity->isA(CC_TYPES::POINT_CLOUD)) {
		m_app->dispToConsole("Run error，please select a point cloud!");
		return;
	}
	ccPointCloud *pc = ccHObjectCaster::ToPointCloud(entity);
	ccScalarField *sf = pc->getCurrentDisplayedScalarField();

2. 获取保存路径

//用户选择保存的文件夹
	QString dirPath = QFileDialog::getExistingDirectory(nullptr,"please select a saving path");
	if (dirPath.isEmpty()) {
		m_app->dispToConsole("The user did not select a folder.");
		return;
	}

3. 获取点云信息并输出

要注意点云的着色方式有两种：一是根据自身的rgb值进行渲染；二是根据标量域来渲染。此外点云对象中点的坐标是经过偏移处理的，因此输出时要进行坐标转换，只需调用点云对象的toGlobal3d()方法即可。

//判断当前点云对象采用的是color还是scalefields来呈现颜色的
	if (pc->hasColors() && pc->colorsShown()) {	//rgb
		//创建文件以及IO流
		QString filename = pc->getName() + "_color";
		QFile file(dirAbPath + "\\" + filename + ".txt");
		//文件不存在则创建文件
		if (!file.exists()) {
			file.open(QIODevice::ReadWrite | QIODevice::Text);
			file.close();
		}
		//打开文件，创建输出流
		file.open(QIODevice::Text | QIODevice::Truncate | QIODevice::WriteOnly);
		QTextStream out(&file);
		
		//获取并输出点云信息（x,y,z,sf,r,g,b）
		ccColor::Rgba color;
		CCVector3d point;
		for (int i = 0; i<pc->size(); i++) {
			color = pc->getPointColor(i);
			//将cc中偏移后的坐标转为转原始坐标
			point = pc->toGlobal3d(*pc->getPoint(i));	//cc源码中用的是 *pc->getPointPersistentPtr(i);  但是这两个方法内部调用的接口一样
			out << QString("%1 %2 %3 %4 %5 %6 %7 %8")
				.arg(point.x, 0, 'r', 8).arg(point.y, 0, 'r', 8).arg(point.z, 0, 'r', 8)
				.arg(pc->getPointScalarValue(i), 0, 'r', 8).arg(color.r).arg(color.g).arg(color.b).arg(color.a) << endl;
		}
		file.close();
	}else if (pc->hasScalarFields() && pc->sfShown()) {	//scalar fields
		sqb.exec();
		QString filename = pc->getName() + "_" + QString(sf->getName()) + "_" + sf->getColorScale()->getUuid() + "_" + QString::number(sf->getColorRampSteps());
		QFile file(dirAbPath + "\\" + filename + ".txt");
		if (!file.exists()) {
			file.open(QIODevice::ReadWrite | QIODevice::Text);
			file.close();
		}
		file.open(QIODevice::Text | QIODevice::Truncate | QIODevice::WriteOnly);
		QTextStream out(&file);
		
		const ccColor::Rgb* color;
		CCVector3d point;
		for (int i = 0; i<pc->size(); i++) {
			color=pc->getPointScalarValueColor(i);
			point=pc->toGlobal3d(*pc->getPoint(i));	
			out << QString("%1 %2 %3 %4 %5 %6 %7")
				.arg(point.x,0,'r', precision).arg(point.y, 0, 'r', precision).arg(point.z, 0, 'r', precision)
				.arg(pc->getPointScalarValue(i), 0, 'r', precision).arg(color->r).arg(color->g).arg(color->b)<< endl;
		}
		file.close();
	}
	else {
		m_app->dispToConsole("Please set the color of the point");
		return;
	}

四. 插件下载

百度网盘链接：https://pan.baidu.com/s/1e3NrrFloSiXzQE4IVvwgeg
提取码：piwz