PointVisulization.rar

该代码实现了点云读取，点云重心计算，八叉树，邻域搜索等基本功能，通过opengl实现点云可视化，对于初学者来说是一个较为基础的参考

#include “Neighborhood.h“

//local

#include “PointCloud.h“
#include “Matrix.h“


//system
#include 
#include 

using namespace CCLib;

Neighbourhood::Neighbourhood（PointCloud* associatedCloud）
	: structuresValidity（DEPRECATED）
	 m_associatedCloud（associatedCloud）
{
	assert（m_associatedCloud）;
}

void Neighbourhood::reset（）
{
	structuresValidity = DEPRECATED;
}

const CCVector3* Neighbourhood::getGravityCenter（）
{
	if （!（structuresValidity & GRAVITY_CENTER））
		computeGravityCenter（）;
	return （（structuresValidity & GRAVITY_CENTER） ? &theGravityCenter : 0）;
}

void Neighbourhood::setGravityCenter（const CCVector3& G）
{
	theGravityCenter = G;
	structuresValidity |= GRAVITY_CENTER;
}

const float* Neighbourhood::getLSQPlane（）
{
	if （!（structuresValidity & LSQ_PLANE））
		computeLeastSquareBestFittingPlane（）;
	return （（structuresValidity & LSQ_PLANE） ? theLSQPlaneEquation : 0）;
}

void Neighbourhood::setLSQPlane（const float eq[4]
	const CCVector3& X
	const CCVector3& Y
	const CCVector3& N）
{
	memcpy（theLSQPlaneEquation eq sizeof（float） * 4）;
	theLSQPlaneVectors[0] = X;
	theLSQPlaneVectors[1] = Y;
	theLSQPlaneVectors[2] = N;

	structuresValidity |= LSQ_PLANE;
}

const CCVector3* Neighbourhood::getLSQPlaneX（）
{
	if （!（structuresValidity & LSQ_PLANE））
		computeLeastSquareBestFittingPlane（）;
	return （（structuresValidity & LSQ_PLANE） ? theLSQPlaneVectors : 0）;
}

const CCVector3* Neighbourhood::getLSQPlaneY（）
{
	if （!（structuresValidity & LSQ_PLANE））
		computeLeastSquareBestFittingPlane（）;
	return （（structuresValidity & LSQ_PLANE） ? theLSQPlaneVectors + 1 : 0）;
}

const CCVector3* Neighbourhood::getLSQPlaneNormal（）
{
	if （!（structuresValidity & LSQ_PLANE））
		computeLeastSquareBestFittingPlane（）;
	return （（structuresValidity & LSQ_PLANE） ? theLSQPlaneVectors + 2 : 0）;
}

//const float* Neighbourhood::getHeightFunction（unsigned char* dimsHF/*=0*/）
//{
//	if （!（structuresValidity & HEIGHT_FUNCTION））
//		computeHeightFunction（）;
//	if （dimsHF）
//	{
//		dimsHF[0] = theHeightFunctionDirections[0];
//		dimsHF[1] = theHeightFunctionDirections[1];
//		dimsHF[2] = theHeightFunctionDirections[2];
//	}
//	return （（structuresValidity & HEIGHT_FUNCTION） ? theHeightFunction : 0）;
//}

const double* Neighbourhood::get3DQuadric（）
{
	if （!（structuresValidity & QUADRIC_3D））
		compute3DQuadric（）;
	return （（structuresValidity & QUADRIC_3D） ? the3DQuadric : 0）;
}

void Neighbourhood::computeGravityCenter（）
{
	//invalidate previous centroid （if any）
	structuresValidity &= （~GRAVITY_CENTER）;

	assert（m_associatedCloud）;
	unsigned count = （m_associatedCloud ? m_associatedCloud->size（） : 0）;
	if （!count）
		return;

	//sum
	CCVector3d Psum（0 0 0）;
	for （unsigned i = 0; i	{
		const CCVector3* P = m_associatedCloud->getPoint（i）;
		Psum.x += P->x;
		Psum.y += P->y;
		Psum.z += P->z;
	}

	CCVector3 G（static_cast（Psum.x / cou

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----

    ..A..H.     47616  2019-05-21 09:23  PointVisulization\.vs\PointVisulization\v14\.suo

     文件     412896  2017-05-09 08:34  PointVisulization\PointVisulization\1759.xyz

     文件     135795  2017-05-10 15:26  PointVisulization\PointVisulization\1795index.txt

     文件       4720  2017-05-11 10:29  PointVisulization\PointVisulization\Camera.h

     文件        264  2017-03-24 09:54  PointVisulization\PointVisulization\Const.h

     文件       6183  2017-05-10 15:28  PointVisulization\PointVisulization\IndexCloud.txt

     文件      24577  2017-05-03 17:58  PointVisulization\PointVisulization\Matrix.h

     文件       9516  2017-05-04 08:27  PointVisulization\PointVisulization\Neighborhood.cpp

     文件       7692  2017-05-03 18:00  PointVisulization\PointVisulization\Neighborhood.h

     文件      17180  2017-03-24 10:25  PointVisulization\PointVisulization\Octree.cpp

     文件       6143  2017-03-24 10:25  PointVisulization\PointVisulization\Octree.h

     文件       1158  2017-04-06 15:25  PointVisulization\PointVisulization\opengl_WIN32-release.props

     文件       3855  2017-03-30 16:23  PointVisulization\PointVisulization\PointCloud.cpp

     文件       1527  2017-05-02 08:10  PointVisulization\PointVisulization\PointCloud.h

     文件       4705  2019-03-04 16:45  PointVisulization\PointVisulization\PointVisulization.vcxproj

     文件       2212  2019-03-04 16:45  PointVisulization\PointVisulization\PointVisulization.vcxproj.filters

     文件        165  2017-05-03 15:23  PointVisulization\PointVisulization\PointVisulization.vcxproj.user

     文件     904189  2019-03-04 16:45  PointVisulization\PointVisulization\Release\Neighborhood.obj

     文件     970480  2019-03-04 16:45  PointVisulization\PointVisulization\Release\Octree.obj

     文件     993765  2019-03-04 16:45  PointVisulization\PointVisulization\Release\PointCloud.obj

     文件       7788  2019-05-20 09:39  PointVisulization\PointVisulization\Release\PointVis.1ADCBAF6.tlog\cl.command.1.tlog

     文件     103670  2019-05-20 09:39  PointVisulization\PointVisulization\Release\PointVis.1ADCBAF6.tlog\cl.read.1.tlog

     文件       3802  2019-05-20 09:39  PointVisulization\PointVisulization\Release\PointVis.1ADCBAF6.tlog\cl.write.1.tlog

     文件       3938  2019-05-20 09:39  PointVisulization\PointVisulization\Release\PointVis.1ADCBAF6.tlog\link.command.1.tlog

     文件       6094  2019-05-20 09:39  PointVisulization\PointVisulization\Release\PointVis.1ADCBAF6.tlog\link.read.1.tlog

     文件       1624  2019-05-20 09:39  PointVisulization\PointVisulization\Release\PointVis.1ADCBAF6.tlog\link.write.1.tlog

     文件        209  2019-05-20 09:39  PointVisulization\PointVisulization\Release\PointVis.1ADCBAF6.tlog\PointVisulization.lastbuildstate

     文件       4089  2019-05-20 09:39  PointVisulization\PointVisulization\Release\PointVisulization.log

     文件    1540692  2019-05-20 09:39  PointVisulization\PointVisulization\Release\Source.obj

     文件     580080  2019-03-04 16:45  PointVisulization\PointVisulization\Release\triangle.obj

............此处省略28个文件信息