转换带深度的点云数据 成 osg中的一个叶子节点

由于代码不能冗余，又怕找不到，备份到这里

在这里插#include <osg/LineWidth>
#include <osg/Point>

osg::Geode *PCL_MainWindow::TransformOsgData_1(PointCloud_rgb cloud1)
{
    size_t cloudnum = cloud1->size();
    osg::ref_ptr<osg::Geometry> geometry = new osg::Geometry();
    osg::ref_ptr<osg::Vec3Array> coord = new osg::Vec3Array(); /**创建顶点容器**/
    osg::ref_ptr<osg::Vec4Array> colors = new osg::Vec4Array();/**创建颜色容器**/

    //----------------将距离值存入容器中，判定容器中的最小值 和 最大值，作为rgb 的基础色值-------
    for (size_t v = 0; v < cloudnum; v++)
    {
        if (max < cloud1->points[v].intensity)
            max = cloud1->points[v].intensity;
        if (min > cloud1->points[v].intensity)
            min = cloud1->points[v].intensity;
    }
    median = (max-min)/2; //中间值，绿色

    //--------------------------------------------------------------------------------

    /**将点云数据存至 osg 容器中**/
    for (size_t i = 0; i < cloudnum; i++)
    {
        coord->push_back(osg::Vec3(cloud1->points[i].x, cloud1->points[i].y, cloud1->points[i].z));
        colors->push_back(computeColor(int(cloud1->points[i].intensity))); //写个内联判定范围着色
    }
    geometry->setVertexArray(coord.get()); /**设置坐标顶点**/
    geometry->setColorArray(colors.get()); /**设置绑定颜色**/
    geometry->setColorBinding(osg::Geometry::BIND_PER_VERTEX); /**绑定顶点颜色**/
    geometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POINTS, 0, int(cloudnum)));/**设置顶点的关联方式**/

    osg::ref_ptr<osg::Point> point = new osg::Point;
    point->setSize(2);

    //    添加颜色关键点，必须设置 geode 这个叶子节点属性
    osg::ref_ptr<osg::Geode> geode = new osg::Geode;
    geode->getOrCreateStateSet()->setMode(GL_LIGHTING, osg::StateAttribute::OFF);
    geode->getOrCreateStateSet()->setAttribute(point,  osg::StateAttribute::ON);

    geode->addDrawable(geometry);
    //    PCL_THROW_EXCEPTION()  抛出异常的宏
    return geode.release();
}

/*!
     * \brief computeColor 用点云库随机生成颜色
     * \param intensity  如果需要指定颜色，调用 OSG_PCLVisualizer类中的 pclDataTransformOsgData
     * \return
     */
    inline osg::Vec4 computeColor(const int intensity)
    {
        osg::Vec4 color;
        double r, g, b;
        pcl::visualization::getRandomColors (r, g, b);
        color = osg::Vec4(float(r), float(g), float(b), 1);
        return color;
    }
    /*!
     * \brief computeColor_2 根据距离分配颜色
     * \param intensity  距离值
     * \return
     */
    inline osg::Vec4 computeColor_2(const float intensity)
    {
        osg::Vec4 color;
        float r=1.0f;
        float g=1.0f;
        float b=1.0f;

        float ddd = max/4;
        float dd = max/2;
        float d = dd+ddd;

        if(int(intensity) == 0)
        {
              color = osg::Vec4(r, 0.0f, 0.0f, 1.0f);
        }
        if(intensity > 0 && intensity < ddd )
        {
              g = intensity/ddd;
              color = osg::Vec4(1, g, 0.0f, 1.0f);
        }
        if(intensity > ddd && intensity < dd )
        {
            g = intensity/dd;
           color = osg::Vec4(0.0f, g, 1.0f, 1.0f);
        }
        if(intensity > dd && intensity < d )
        {
            b = intensity/d;
           color = osg::Vec4(0.0f, 1.0f, b, 1.0f);
        }
        else if(intensity > d && intensity < max)
        {
            b = intensity/max;
            color = osg::Vec4(0.0f, 0.0f, b, 1.0f);
        };
       return color;
    }
入代码片