PointXYZRGB点云与meshcolor网格互转

PointXYZRGB转meshcolor

参考：如何使用PCL将XYZRGB点云转换为彩色mesh模型

#include <iostream>
#include <string>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/features/normal_3d_omp.h>
#include <pcl/features/normal_3d.h>
#include <pcl/surface/gp3.h>
#include <pcl/surface/poisson.h>
#include <pcl/visualization/pcl_visualizer.h>


void PointXYZRGB2meshcolor(pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud)
{
	pcl::NormalEstimationOMP<pcl::PointXYZRGB, pcl::Normal> ne;
	ne.setNumberOfThreads(8);
	ne.setInputCloud(cloud);
	ne.setKSearch(10);
	Eigen::Vector4f centroid;
	compute3DCentroid(*cloud, centroid);
	ne.setViewPoint(centroid[0], centroid[1], centroid[2]);//将向量计算原点置于点云中心

	pcl::PointCloud<pcl::Normal>::Ptr cloud_normals(new pcl::PointCloud<pcl::Normal>);
	ne.compute(*cloud_normals);

	//将法向量反向
	for (size_t i = 0; i < cloud_normals->size(); ++i)
	{
		cloud_normals->points[i].normal_x *= -1;
		cloud_normals->points[i].normal_y *= -1;
		cloud_normals->points[i].normal_z *= -1;
	}

	//融合RGB点云和法向
	pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud_smoothed_normals(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
	pcl::concatenateFields(*cloud, *cloud_normals, *cloud_smoothed_normals);

	//泊松重建
	pcl::Poisson<pcl::PointXYZRGBNormal> poisson;
	poisson.setDegree(2);
	poisson.setDepth(8);
	poisson.setSolverDivide(8);
	poisson.setIsoDivide(8);
	poisson.setConfidence(false);
	poisson.setManifold(false);
	poisson.setOutputPolygons(false);
	poisson.setInputCloud(cloud_smoothed_normals);
	pcl::PolygonMesh mesh;
	poisson.reconstruct(mesh);

	//给mesh染色
	pcl::PointCloud<pcl::PointXYZRGB> cloud_color_mesh;
	pcl::fromPCLPointCloud2(mesh.cloud, cloud_color_mesh);

	pcl::KdTreeFLANN<pcl::PointXYZRGB> kdtree;
	kdtree.setInputCloud(cloud); //使用kdtree在原RGB点云上建立一个搜索索引

	int K = 10;
	std::vector<int> pointIdxNKNSearch(K);
	std::vector<float> pointNKNSquaredDistance(K);
	for (int i = 0; i < cloud_color_mesh.points.size(); ++i)
	{
		uint8_t r = 0, g = 0, b = 0;
		int sum_r = 0, sum_g = 0, sum_b = 0;
		float dist = 0.0;

		if (kdtree.nearestKSearch(cloud_color_mesh.points[i], K, pointIdxNKNSearch, pointNKNSquaredDistance) > 0) //对mesh上的每一个点都搜索对应原RGB点云上的临近点
		{	//求得这些对应临近点的RGB通道均值，作为mesh上那个点的颜色信息
			for (int j = 0; j < pointIdxNKNSearch.size(); ++j)
			{
				r = cloud->points[pointIdxNKNSearch[j]].r;
				g = cloud->points[pointIdxNKNSearch[j]].g;
				b = cloud->points[pointIdxNKNSearch[j]].b;

				sum_r += int(r);
				sum_g += int(g);
				sum_b += int(b);
				dist += 1.0 / pointNKNSquaredDistance[j];
			}
		}

		cloud_color_mesh.points[i].r = int(sum_r / pointIdxNKNSearch.size() + 0.5);
		cloud_color_mesh.points[i].g = int(sum_g / pointIdxNKNSearch.size() + 0.5);
		cloud_color_mesh.points[i].b = int(sum_b / pointIdxNKNSearch.size() + 0.5);
	}

	pcl::toPCLPointCloud2(cloud_color_mesh, mesh.cloud);
	pcl::io::savePLYFile("mesh.ply", mesh);
	
	pcl::visualization::PCLVisualizer viewer("viewer");
	viewer.addPolygonMesh(mesh);
	while (!viewer.wasStopped())
	{
		viewer.spinOnce(100);
	}
}


int main(int argc, char** argv)
{
	pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
	pcl::io::loadPCDFile("bunny_color.pcd", *cloud);

	PointXYZRGB2meshcolor(cloud);
	return 0;
}

meshcolor转PointXYZRGB

#include <iostream>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/visualization/pcl_visualizer.h>


void meshcolor2PointXYZRGB(pcl::PolygonMesh mesh)
{
	pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>);
	pcl::fromPCLPointCloud2(mesh.cloud, *cloud);
	pcl::io::savePCDFile("bunny_cloud.pcd", *cloud);
	pcl::io::savePLYFile("bunny_cloud.ply", *cloud);

	std::ofstream outfile;
	outfile.open("bunny_cloud.txt");
	for (size_t i = 0; i < cloud->size(); i++)
	{
		pcl::PointXYZRGB p = cloud->points[i];
		outfile << p.x << " " << p.y << " " << p.z << " " << (int)p.r << " " << (int)p.g << " " << (int)p.b << std::endl;
	}
	outfile.close();

	pcl::visualization::PCLVisualizer viewer("Viewer");
	viewer.addPointCloud(cloud, "cloud");
	while (!viewer.wasStopped())
	{
		viewer.spinOnce(100);
	}
}


int main(int argc, char** argv)
{
	pcl::PolygonMesh mesh;
	pcl::io::loadPLYFile("mesh.ply", mesh);

	meshcolor2PointXYZRGB(mesh);
	return 0;
}