OSG库
1. OSG简介
OpenSceneGraph(OSG)是一个开源的跨平台的三维图形工具包,用于实时模拟和视觉仿真应用程序的开发。
1.1 OSG下载
官方库
源 | 地址 | |
---|---|---|
1 | OpenSceneGraph官网 | http://www.openscenegraph.org/ |
2 | GitHub 导航页 | https://github.com/openscenegraph |
3 | GitHub OpenSceneGraph | https://github.com/openscenegraph/OpenSceneGraph |
4 | OpenSceneGraph官网测试数据 | OpenSceneGraph-Data-3.4.0.zip |
国方扩展库
源 | 地址 | |
---|---|---|
1 | GitHub osgQt | https://github.com/openscenegraph/osgQt |
2 | osgQt的具体应用 | 深入浅出(四)osgQt库—OSG扩展库 |
3 | osgChina官网 | http://www.osgchina.org/downloads-son.php?id=34 |
其他优秀的开源库地址
源 | 地址 | |
---|---|---|
1 | GitHub demo-osgpcl | https://github.com/adasta/osgpcl |
2 | GitHub osg-3rdparty-cmake | https://github.com/bjornblissing/osg-3rdparty-cmake |
3 | freecad | https://www.freecad.org/ |
2. OSGCMake生成vs解决方案
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下载OpenSceneGraph(OSG)源码,可参考本文Osg 下载,并安装CMake
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这里将源代码解压后放在了OpenSceneGraph目录下,
创建目录:build
创建目录:install
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打开cmake-gui软件
源码目录填写:C:\work\OpenSceneGraph\OpenSceneGraph-master
构建目录填写:C:\work\OpenSceneGraph\build
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点击Configure,在弹出的窗口中选择:
生成的工程:Visual Studio 16 2019【根据自己电脑安装的vs版本选择,作者安装的为vs2019】
生成类型:x64
使用默认的本机编译器
点击finish完成配置
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点击Configure,出现很多红色,修改两处
BUILD_OSG_EXAMPLES:勾选
CMAKE_INSTALL_PREFIX:修改为 C:\work\OpenSceneGraph\install
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在此点击Configure,如下图
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点击Generate,如下图,与上图区别是Open Project处于可点击状态
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点击Open Project,通过vs2019打开工程
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配置管理器为Release,x64
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构建ALL_BUILD,此过程大约需要2小时。
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build目录下,生成lib和dll如下
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INSTALL生成库,在install目录下生成我们想要的可添加到工程中的dll和lib
3. OSG应用
3.1 部署到工程中
cmakelists.txt
include_directories(${path}/osg/include)
file(GLOB OSG_LIB ${path}/osg/lib/*.lib)
file(GLOB OSG_DLL ${path}/osg/bin/*.dll)
target_link_libraries(${PROJECT_NAME} PUBLIC ${OSG_LIB})
3.2 基于QT 图形显示
代码中添加以下代码,运行成功而不崩溃,则代表添加成功
osgQOpenGLWidget* osgwidget = new osgQOpenGLWidget();
osgwidget->show();
附录1 OSG C++示例
显示一个立方体
使用OpenSceneGraph创建一个简单的3D场景并显示一个立方体
#include <osg/Geode>
#include <osg/Geometry>
#include <osgViewer/Viewer>
int main() {
// 创建一个几何体
osg::ref_ptr<osg::Geometry> geometry = new osg::Geometry;
// 创建一个立方体的顶点数据
osg::ref_ptr<osg::Vec3Array> vertices = new osg::Vec3Array;
vertices->push_back(osg::Vec3(-0.5f, -0.5f, 0.0f));
vertices->push_back(osg::Vec3(0.5f, -0.5f, 0.0f));
vertices->push_back(osg::Vec3(0.5f, 0.5f, 0.0f));
vertices->push_back(osg::Vec3(-0.5f, 0.5f, 0.0f));
geometry->setVertexArray(vertices);
// 创建一个立方体的颜色数据
osg::ref_ptr<osg::Vec4Array> colors = new osg::Vec4Array;
colors->push_back(osg::Vec4(1.0f, 0.0f, 0.0f, 1.0f));
geometry->setColorArray(colors, osg::Array::BIND_OVERALL);
// 创建一个图元集合
osg::ref_ptr<osg::DrawElementsUInt> primitiveSet = new osg::DrawElementsUInt(osg::PrimitiveSet::QUADS, 0);
primitiveSet->push_back(0);
primitiveSet->push_back(1);
primitiveSet->push_back(2);
primitiveSet->push_back(3);
geometry->addPrimitiveSet(primitiveSet);
// 创建一个Geode节点
osg::ref_ptr<osg::Geode> geode = new osg::Geode;
geode->addDrawable(geometry);
// 创建一个查看器并设置场景数据
osgViewer::Viewer viewer;
viewer.setSceneData(geode);
// 运行查看器
return viewer.run();
}
显示点云
#include <osgViewer/Viewer>
#include <osg/Geode>
#include <osg/ShapeDrawable>
#include <osg/Group>
int main(int argc, char** argv)
{
// 创建Viewer
osgViewer::Viewer viewer;
// 创建根节点
osg::ref_ptr<osg::Group> root = new osg::Group;
// 创建几何图形
osg::ref_ptr<osg::Geode> geode = new osg::Geode;
osg::ref_ptr<osg::ShapeDrawable> shapeDrawable = new osg::ShapeDrawable(new osg::Box(osg::Vec3(0, 0, 0), 1.0f));
geode->addDrawable(shapeDrawable);
// 将几何图形添加到根节点
root->addChild(geode);
// 将根节点设置为场景数据
viewer.setSceneData(root);
// 运行Viewer
return viewer.run();
}
osg 接口实例
- osg 初始化
osg .h 定义
//点云可视化参数
osg::ref_ptr<osgViewer::Viewer> osg_viewer; //参数配置
osg::ref_ptr<osg::Group> osg_group_root; //根节点
float osg_size; //osg图形的大小
osg::ref_ptr<osg::MatrixTransform> osg_coordinate_origin; //3D相机坐标系child节点
osg::ref_ptr<osg::MatrixTransform> osg_coordinate ; //3D相机坐标系child节点
osg::ref_ptr<osg::Geometry> osg_geometry_data; //点云数据存储节点, xyzrxryrz + rgb
osg::ref_ptr<osg::Geode> osg_geode_child;
osgQOpenGLWidget* osg_widget;
boost::shared_ptr<pcl::visualization::PCLVisualizer> pcl_visualizer;
osg 初始化接口
void OsgInit() {
QSize size = QSize(osg_widget->width(), osg_widget->height());
osg::ref_ptr<osgGA::TrackballManipulator> trackball = new osgGA::TrackballManipulator;
trackball->setAllowThrow(false);
trackball->setAutoComputeHomePosition(true);
trackball->setThreadSafeRefUnref(true);
osg_group_root = new osg::Group();
osg_viewer = osg_widget->getOsgViewer();
osg_viewer->getCamera()->setClearColor(osg::Vec4(0.2, 0.2, 0.2, 1));
osg_viewer->getCamera()->setProjectionMatrixAsPerspective(30.0f, static_cast<double>(size.width())/static_cast<double>(size.height()), 1.0f, 10000.0f );
osg_viewer->setCameraManipulator(trackball);
osg_viewer->setRunMaxFrameRate(60);
// 优化场景数据
osgUtil::Optimizer optimizer;
optimizer.optimize(osg_group_root.get());
osg_viewer->setSceneData(osg_group_root.get());
}
- osg 画网格
void OsgDrawGrid() {
//生成网格
osg::ref_ptr<osg::Geode> grid = new osg::Geode;
osg::Geometry* geom = new osg::Geometry;
grid->addChild(geom);
osg::Vec3Array* vertex = new osg::Vec3Array;
geom->setVertexArray(vertex);
//沿xy平面画线,间隔500米,从-10000,画到100000
for (int i = -3; i <= 3; i += 1) {
vertex->push_back(osg::Vec3( i, -3, 0));
vertex->push_back(osg::Vec3( i, 3, 0));
vertex->push_back(osg::Vec3(-3, i, 0));
vertex->push_back(osg::Vec3( 3, i, 0));
}
int s = 3; //行列数
for (int i = -s; i <= s; i += 1) {
vertex->push_back(osg::Vec3( i, -s, 0));
vertex->push_back(osg::Vec3( i, s, 0));
vertex->push_back(osg::Vec3(-s, i, 0));
vertex->push_back(osg::Vec3( s, i, 0));
}
geom->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::LINES, 0, vertex->size()));
osg::Vec4Array* color = new osg::Vec4Array();
color->push_back(osg::Vec4(0.7, 0.7, 0.7, 1.0));
geom->setColorArray(color, osg::Array::BIND_OVERALL);
geom->getOrCreateStateSet()->setMode(GL_LIGHTING, osg::StateAttribute::OFF);
osg_group_root->addChild(grid);
}
- osg 画坐标系
void OsgShowCoordinate(const Eigen::Matrix4f& coor_pose) {
//画基础原点坐标系
osg::Matrix matrix = osg::Matrix::identity();
matrix.postMultTranslate(osg::Vec3(0,0,0));
osg_coordinate_origin = new GeodePosition(matrix, osg_size, "COORDINATE_ORIGIN");
osg_group_root->addChild(osg_coordinate_origin);
//转换成m制
Eigen::Matrix4f pose = coor_pose;
pose(0,3) = coor_pose(0,3) / 1000.0;
pose(1,3) = coor_pose(1,3) / 1000.0;
pose(2,3) = coor_pose(2,3) / 1000.0;
//添加相机坐标系
osg_group_root->removeChild(osg_coordinate);
osg_coordinate = new GeodePosition(pose, osg_size, "COORDINATE");
osg_group_root->addChild(osg_coordinate);
}
- osg 画pcl点云图
void OsgShowPclCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr& cloud) {
//点云可视化
long size = cloud->size();
osg::ref_ptr<osg::Vec3Array> coords = new osg::Vec3Array(); //创建顶点数组
osg::ref_ptr<osg::Vec4Array> colors = new osg::Vec4Array(); //创建颜色
std::vector<std::uint8_t> vec_colors;
for(int i = 0; i < size; i++) {
coords->push_back(osg::Vec3(cloud->data()[i].x,
cloud->data()[i].y,
cloud->data()[i].z));
colors->push_back(osg::Vec4f((int)cloud->data()[i].r / 255.0,
(int)cloud->data()[i].g / 255.0,
(int)cloud->data()[i].b / 255.0,
(int)cloud->data()[i].a / 255.0));
}
//数据清空
osg_geode_child->removeDrawable(osg_geometry_data.get());
//设置顶点数组
//osg::ref_ptr<osg::Geometry> geometry = new osg::Geometry();
osg_geometry_data->setVertexArray(coords.get()) ;
osg_geometry_data->setColorArray(colors.get()) ;
osg_geometry_data->setColorBinding(osg::Geometry::BIND_PER_VERTEX);
osg_geometry_data->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POINTS , 0, size)) ; //设置关联方式
//osg::ref_ptr<osg::Geode> geode111 = new osg::Geode() ;
osg_geode_child->addDrawable(osg_geometry_data.get());
osg_group_root->addChild(osg_geode_child);
}
- pcl 画点云图
void ShowPclCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr& cloud) {
//pcl窗口显示点云
if (pcl_visualizer) {
pcl_visualizer->close();
}
boost::shared_ptr<pcl::visualization::PCLVisualizer> pcl_visualizer(new pcl::visualization::PCLVisualizer("3D Viewer"));
pcl_visualizer->addPointCloud<pcl::PointXYZRGB>(cloud);
pcl_visualizer->setBackgroundColor(0, 0, 0); // 设置点云大小
pcl_visualizer->addCoordinateSystem(0);
//可选 可修改背景颜色
while (!pcl_visualizer->wasStopped()) {
//调用内部渲染函数,重新渲染输出时间最大不查过time=1000
pcl_visualizer->spinOnce(1000);
}
}
- pcl 保存点云数据
void SavePclCloud(const pcl::PointCloud<pcl::PointXYZRGB>::Ptr& cloud) {
//创建文件夹路径
QString file_path_name = "D:/"+ QDateTime::currentDateTime().toString("yyyy_MM_dd_HH_mm_ss") + "_cloud_data";
QDir dir1(file_path_name);
if(!dir1.exists()) {
dir1.mkdir(file_path_name);
}
//解决中文路径问题
QTextCodec *code = QTextCodec::codecForName("GB2312");
std::string name = code->fromUnicode(file_path_name).data();
QByteArray file_path = name.c_str();
//保存点云数据
pcl::io::savePLYFileBinary(file_path.toStdString() + "/cloud.ply", *cloud);
}