├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── LICENSE.LGPLv3 ├── README.md ├── example ├── CMakeLists.txt ├── data │ ├── bunny.pcd │ └── bunny_normal.pcd ├── qml.qrc ├── qml │ └── main.qml ├── shader │ ├── pointcloud.frag │ ├── pointcloud.vert │ ├── surfel.frag │ └── surfel.vert └── src │ └── main.cpp ├── include ├── qpointcloud.h ├── qpointcloudgeometry.h ├── qpointcloudreader.h └── qpointfield.h └── src ├── qpointcloud.cpp ├── qpointcloudgeometry.cpp ├── qpointcloudreader.cpp └── qpointfield.cpp /.gitignore: -------------------------------------------------------------------------------- 1 | *.pro.user 2 | *.user* 3 | *.autosave 4 | *.backup 5 | *.tmp 6 | *.pyc 7 | *.obj 8 | *.orig 9 | *build* 10 | moc_* 11 | CMakeLists.txt.user 12 | *~ 13 | *.rej 14 | *.BACKUP.* 15 | *.BASE.* 16 | *.LOCAL.* 17 | *.REMOTE.* 18 | externals/libs/* 19 | .directory 20 | *.swp 21 | 22 | Release 23 | Debug 24 | GeneratedFiles 25 | 26 | docs/doxygen/html 27 | docs/doxygen/latex 28 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | project(Qt3DPointcloudRenderer) 2 | cmake_minimum_required(VERSION 3.0.2) 3 | 4 | set(CMAKE_AUTOMOC ON) 5 | set(CMAKE_INCLUDE_CURRENT_DIR ON) 6 | 7 | find_package(Qt5Core REQUIRED) 8 | find_package(Qt5Qml REQUIRED) 9 | find_package(Qt5Widgets REQUIRED) 10 | find_package(Qt5Quick REQUIRED) 11 | find_package(Qt53DInput REQUIRED) 12 | find_package(Qt53DQuick REQUIRED) 13 | find_package(Qt53DRender REQUIRED) 14 | find_package(Qt53DQuickRender REQUIRED) 15 | 16 | set(WITH_PCL ON CACHE BOOL "Enable pcl") 17 | set(WITH_LAS OFF CACHE BOOL "Enable las") 18 | 19 | if(WITH_PCL) 20 | find_package(PCL REQUIRED COMPONENTS common io) 21 | link_directories(${PCL_LIBRARY_DIRS}) 22 | endif(WITH_PCL) 23 | 24 | if(WITH_LAS) 25 | # LibLAS is used for easy integration with windows. Thus it is not included 26 | # with an additional find-script, but quick-and-dirty by integrating LAS into 27 | # the the project. Retain libLAS copyright notice in your project (BSD License). 28 | 29 | set(HAVE_GDAL FALSE CACHE BOOL "Enable GDAL for LibLAS") 30 | set(HAVE_LIBGEOTIFF FALSE CACHE BOOL "Enable libGeoTIFF for LibLAS") 31 | set(HAVE_LASZIP TRUE CACHE BOOL "Enable Laszip for LibLAS") 32 | set(LIBLAS_PATH CACHE PATH "Path to libLAS folder, containing \"include\" and \"src\"") 33 | set(LIBLASZIP_PATH CACHE PATH "Path to LASzip folder VERSION v2.2.0! (newer versions are incompatible)") 34 | 35 | file(GLOB_RECURSE LASZIP_SOURCES ${LIBLASZIP_PATH}/include/*.hpp 36 | ${LIBLASZIP_PATH}/include/*.h 37 | ${LIBLASZIP_PATH}/src/*.hpp 38 | ${LIBLASZIP_PATH}/src/*.h 39 | ${LIBLAS_PATH}/src/*.cpp ) 40 | 41 | file(GLOB_RECURSE LIBLAS_SOURCES ${LIBLAS_PATH}/include/*.hpp 42 | ${LIBLAS_PATH}/include/*.h 43 | ${LIBLAS_PATH}/src/*.hpp 44 | ${LIBLAS_PATH}/src/*.h 45 | ${LIBLAS_PATH}/src/*.cpp ) 46 | if(NOT HAVE_GDAL) 47 | file(GLOB_RECURSE GT_SRC ${LIBLAS_PATH}/src/gt_*.cpp 48 | ${LIBLAS_PATH}/src/gt_*.h) 49 | list(REMOVE_ITEM LIBLAS_SOURCES "${GT_SRC}") 50 | endif(NOT HAVE_GDAL) 51 | 52 | if(NOT HAVE_LIBGEOTIFF) 53 | file(GLOB_RECURSE GEO_SRC ${LIBLAS_PATH}/src/tifvsi.cpp) 54 | list(REMOVE_ITEM LIBLAS_SOURCES "${GEO_SRC}") 55 | endif(NOT HAVE_LIBGEOTIFF) 56 | endif(WITH_LAS) 57 | 58 | set(SOURCE 59 | ${CMAKE_CURRENT_SOURCE_DIR}/src/qpointcloud.cpp 60 | ${CMAKE_CURRENT_SOURCE_DIR}/src/qpointcloudgeometry.cpp 61 | ${CMAKE_CURRENT_SOURCE_DIR}/src/qpointfield.cpp 62 | ${CMAKE_CURRENT_SOURCE_DIR}/src/qpointcloudreader.cpp 63 | # ${CMAKE_CURRENT_SOURCE_DIR}/src/xyzcsvreader.cpp 64 | ) 65 | set(HEADER 66 | ${CMAKE_CURRENT_SOURCE_DIR}/include/qpointcloud.h 67 | ${CMAKE_CURRENT_SOURCE_DIR}/include/qpointcloudgeometry.h 68 | ${CMAKE_CURRENT_SOURCE_DIR}/include/qpointfield.h 69 | ${CMAKE_CURRENT_SOURCE_DIR}/include/qpointcloudreader.h 70 | # ${CMAKE_CURRENT_SOURCE_DIR}/include/xyzcsvreader.h 71 | ) 72 | 73 | set(BUILD_EXAMPLE ON CACHE BOOL "Build the example project") 74 | 75 | if(BUILD_EXAMPLE) 76 | add_subdirectory(example) 77 | endif(BUILD_EXAMPLE) 78 | 79 | add_library(Qt3DPointcloudRenderer ${SOURCE} ${HEADER} ${LIBLAS_SOURCES} ${LASZIP_SOURCES}) 80 | 81 | target_include_directories(Qt3DPointcloudRenderer PUBLIC ${PROJECT_SOURCE_DIR}/include/ 82 | PRIVATE ${PROJECT_SOURCE_DIR}/src/ ) 83 | 84 | if(WITH_PCL) 85 | target_link_libraries(Qt3DPointcloudRenderer ${PCL_LIBRARIES} stdc++) 86 | target_include_directories(${PROJECT_NAME} PRIVATE PRIVATE ${PCL_INCLUDE_DIRS}) 87 | #target_compile_definitions(${PROJECT_NAME} PRIVATE ${PCL_DEFINITIONS}) causes command-line error in cmake from ubuntu 16.04 88 | target_compile_definitions(${PROJECT_NAME} PUBLIC WITH_PCL=1) 89 | endif(WITH_PCL) 90 | 91 | if(WITH_LAS) 92 | target_include_directories(${PROJECT_NAME} PRIVATE ${LIBLAS_PATH}/include/) 93 | target_compile_definitions(${PROJECT_NAME} PUBLIC WITH_LAS=1) 94 | if(HAVE_LASZIP) 95 | target_include_directories(${PROJECT_NAME} PRIVATE ${LIBLASZIP_PATH}/include/ 96 | ${LIBLASZIP_PATH}/include/laszip 97 | ${LIBLASZIP_PATH}/src/) 98 | endif(HAVE_LASZIP) 99 | endif(WITH_LAS) 100 | 101 | qt5_use_modules(Qt3DPointcloudRenderer Qml Widgets Quick 3DCore 3DQuick 3DRender 3DQuickRender) 102 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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PCL or libLAS can be disabled to avoid the dependency to one of the libraries. 4 | This library adds classes to be used with the Qt3D GeometryRenderer-Component. Moreover a Qml-Pointcloud type and pcd/ply-reader exist. The compiled library can be used by a program, that does not need PCL/libLAS-headers. 5 | Pointclouds are read-only. However Qml binding re-evaluate if the internal pointcloud is changed. 6 | 7 | ## Qml Types 8 | 9 | * Pointcloud: Wraps pcl::PCLPointCloud2; Reads LAS files using a provided liblas::Reader (TODO: this is only C++ yet) 10 | * Pointfield: Wraps pcl::PCLPointField 11 | * PointcloudReader: Wraps pcl::PCDReader and pcl::PLYReader 12 | * QPointcloudGeometry: Can be used as Qt3DRender::QGeometry to render a Pointcloud using Qt3DRender::GeometryRenderer 13 | 14 | ## Usage 15 | 16 | Register Qml-Types: 17 | 18 | qmlRegisterType("pcl", 1, 0, "PointcloudReader"); 19 | qmlRegisterType("pcl", 1, 0, "Pointcloud"); 20 | qmlRegisterType("pcl", 1, 0, "PointcloudGeometry"); 21 | qmlRegisterUncreatableType("pcl", 1, 0, "Pointfield", "Can not yet be created in qml, use PointcloudReader."); 22 | 23 | Read Pointcloud in Qml: 24 | 25 | PointcloudReader { 26 | id: pointcloudreader 27 | filename: "data/bunny.pcd" 28 | } 29 | 30 | Add your Pointcloud-Entity to the scenegraph. 31 | 32 | Entity { 33 | id: pointcloud 34 | property Layer layerPoints: Layer { 35 | names: "points" 36 | } 37 | property GeometryRenderer pointcloudMesh: GeometryRenderer { 38 | geometry: PointcloudGeometry { pointcloud: pointcloudreader.pointcloud } 39 | primitiveType: GeometryRenderer.Points 40 | } 41 | property Material materialPoint: PerVertexColorMaterial {} 42 | components: [ pointcloudMesh, materialPoint, meshTransform, layerPoints ] 43 | } 44 | 45 | The layer is needed to identify pointclouds in the framegraph: 46 | 47 | FrameGraph { 48 | (...) 49 | LayerFilter { 50 | layers: ["points"] 51 | StateSet { 52 | renderStates: [ 53 | //PointSize { specification: PointSize.StaticValue; value: 5 /*pixels*/ }, 54 | PointSize { specification: PointSize.Programmable }, 55 | DepthTest { func: DepthTest.Less }, 56 | DepthMask { mask: true } 57 | ] 58 | } 59 | } 60 | (...) 61 | } 62 | 63 | Instead of PerVertexColorMaterial, a custom shader can be used to enable programmable per vertex point size: 64 | 65 | property Material materialPoint: Material { 66 | effect: Effect { 67 | techniques: Technique { 68 | renderPasses: RenderPass { 69 | shaderProgram: ShaderProgram { 70 | vertexShaderCode: loadSource("qrc:/shader/pointcloud.vert") 71 | fragmentShaderCode: loadSource("qrc:/shader/pointcloud.frag") 72 | } 73 | } 74 | } 75 | } 76 | parameters: Parameter { name: "pointSize"; value: 0.1 } 77 | } 78 | 79 | -------------------------------------------------------------------------------- /example/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | project(Qt3DPointcloudRenderer_example) 2 | cmake_minimum_required(VERSION 2.8) 3 | 4 | # Note, that this is pcl-free 5 | 6 | find_package(Qt5Core REQUIRED) 7 | find_package(Qt5Gui REQUIRED) 8 | find_package(Qt5Qml REQUIRED) 9 | find_package(Qt5Widgets REQUIRED) 10 | find_package(Qt5Quick REQUIRED) 11 | find_package(Qt53DCore REQUIRED) 12 | find_package(Qt53DInput REQUIRED) 13 | find_package(Qt53DLogic REQUIRED) 14 | find_package(Qt53DQuick REQUIRED) 15 | find_package(Qt53DRender REQUIRED) 16 | find_package(Qt53DQuickInput REQUIRED) 17 | find_package(Qt53DQuickRender REQUIRED) 18 | 19 | include_directories(${PROJECT_SOURCE_DIR}/src/) 20 | 21 | QT5_ADD_RESOURCES(RESOURCES_RCC qml.qrc) 22 | 23 | set(SOURCE 24 | ${CMAKE_CURRENT_SOURCE_DIR}/src/main.cpp 25 | ) 26 | set(QML 27 | ${CMAKE_CURRENT_SOURCE_DIR}/qml/main.qml 28 | ) 29 | file(GLOB_RECURSE SHADER 30 | ${CMAKE_CURRENT_SOURCE_DIR}/shader/* 31 | ) 32 | file(GLOB_RECURSE DATA 33 | ${CMAKE_CURRENT_SOURCE_DIR}/data/* 34 | ) 35 | 36 | add_executable(Qt3DPointcloudRenderer_example ${SOURCE} ${RESOURCES_RCC} ${QML} ${SHADER} ${data}) 37 | 38 | target_link_libraries(Qt3DPointcloudRenderer_example Qt3DPointcloudRenderer) 39 | 40 | qt5_use_modules(Qt3DPointcloudRenderer_example 41 | Gui 42 | Widgets 43 | Qml 44 | Quick 45 | 3DCore 46 | 3DInput 47 | 3DLogic 48 | 3DQuick 49 | 3DRender 50 | 3DQuickInput 51 | 3DQuickRender) 52 | 53 | execute_process( 54 | COMMAND "${CMAKE_COMMAND}" "-E" "create_symlink" ${CMAKE_CURRENT_SOURCE_DIR}/data ${CMAKE_CURRENT_BINARY_DIR}/data 55 | ) 56 | -------------------------------------------------------------------------------- /example/data/bunny.pcd: -------------------------------------------------------------------------------- 1 | # .PCD v.5 - Point Cloud Data file format 2 | VERSION .5 3 | FIELDS x y z 4 | SIZE 4 4 4 5 | TYPE F F F 6 | COUNT 1 1 1 7 | WIDTH 397 8 | HEIGHT 1 9 | POINTS 397 10 | DATA ascii 11 | 0.0054216 0.11349 0.040749 12 | -0.0017447 0.11425 0.041273 13 | -0.010661 0.11338 0.040916 14 | 0.026422 0.11499 0.032623 15 | 0.024545 0.12284 0.024255 16 | 0.034137 0.11316 0.02507 17 | 0.02886 0.11773 0.027037 18 | 0.02675 0.12234 0.017605 19 | 0.03575 0.1123 0.019109 20 | 0.015982 0.12307 0.031279 21 | 0.0079813 0.12438 0.032798 22 | 0.018101 0.11674 0.035493 23 | 0.0086687 0.11758 0.037538 24 | 0.01808 0.12536 0.026132 25 | 0.0080861 0.12866 0.02619 26 | 0.02275 0.12146 0.029671 27 | -0.0018689 0.12456 0.033184 28 | -0.011168 0.12376 0.032519 29 | -0.0020063 0.11937 0.038104 30 | -0.01232 0.11816 0.037427 31 | -0.0016659 0.12879 0.026782 32 | -0.011971 0.12723 0.026219 33 | 0.016484 0.12828 0.01928 34 | 0.0070921 0.13103 0.018415 35 | 0.0014615 0.13134 0.017095 36 | -0.013821 0.12886 0.019265 37 | -0.01725 0.11202 0.040077 38 | -0.074556 0.13415 0.051046 39 | -0.065971 0.14396 0.04109 40 | -0.071925 0.14545 0.043266 41 | -0.06551 0.13624 0.042195 42 | -0.071112 0.13767 0.047518 43 | -0.079528 0.13416 0.051194 44 | -0.080421 0.14428 0.042793 45 | -0.082672 0.1378 0.046806 46 | -0.08813 0.13514 0.042222 47 | -0.066325 0.12347 0.050729 48 | -0.072399 0.12662 0.052364 49 | -0.066091 0.11973 0.050881 50 | -0.072012 0.11811 0.052295 51 | -0.062433 0.12627 0.043831 52 | -0.068326 0.12998 0.048875 53 | -0.063094 0.11811 0.044399 54 | -0.071301 0.11322 0.04841 55 | -0.080515 0.12741 0.052034 56 | -0.078179 0.1191 0.051116 57 | -0.085216 0.12609 0.049001 58 | -0.089538 0.12621 0.044589 59 | -0.082659 0.11661 0.04797 60 | -0.089536 0.11784 0.04457 61 | -0.0565 0.15248 0.030132 62 | -0.055517 0.15313 0.026915 63 | -0.03625 0.17198 0.00017688 64 | -0.03775 0.17198 0.00022189 65 | -0.03625 0.16935 0.00051958 66 | -0.033176 0.15711 0.0018682 67 | -0.051913 0.1545 0.011273 68 | -0.041707 0.16642 0.0030522 69 | -0.049468 0.16414 0.0041988 70 | -0.041892 0.15669 0.0054879 71 | -0.051224 0.15878 0.0080283 72 | -0.062417 0.15317 0.033161 73 | -0.07167 0.15319 0.033701 74 | -0.062543 0.15524 0.027405 75 | -0.07211 0.1555 0.027645 76 | -0.078663 0.15269 0.032268 77 | -0.081569 0.15374 0.026085 78 | -0.08725 0.1523 0.022135 79 | -0.05725 0.15568 0.010325 80 | -0.057888 0.1575 0.0073225 81 | -0.0885 0.15223 0.019215 82 | -0.056129 0.14616 0.03085 83 | -0.054705 0.13555 0.032127 84 | -0.054144 0.14714 0.026275 85 | -0.046625 0.13234 0.021909 86 | -0.05139 0.13694 0.025787 87 | -0.018278 0.12238 0.030773 88 | -0.021656 0.11643 0.035209 89 | -0.031921 0.11566 0.032851 90 | -0.021348 0.12421 0.024562 91 | -0.03241 0.12349 0.023293 92 | -0.024869 0.12094 0.028745 93 | -0.031747 0.12039 0.028229 94 | -0.052912 0.12686 0.034968 95 | -0.041672 0.11564 0.032998 96 | -0.052037 0.1168 0.034582 97 | -0.042495 0.12488 0.024082 98 | -0.047946 0.12736 0.028108 99 | -0.042421 0.12035 0.028633 100 | -0.047661 0.12024 0.028871 101 | -0.035964 0.1513 0.0005395 102 | -0.050598 0.1474 0.013881 103 | -0.046375 0.13293 0.018289 104 | -0.049125 0.13856 0.016269 105 | -0.042976 0.14915 0.0054003 106 | -0.047965 0.14659 0.0086783 107 | -0.022926 0.1263 0.018077 108 | -0.031583 0.1259 0.017804 109 | -0.041733 0.12796 0.01665 110 | -0.061482 0.14698 0.036168 111 | -0.071729 0.15026 0.038328 112 | -0.060526 0.1368 0.035999 113 | -0.082619 0.14823 0.035955 114 | -0.087824 0.14449 0.033779 115 | -0.089 0.13828 0.037774 116 | -0.085662 0.15095 0.028208 117 | -0.089601 0.14725 0.025869 118 | -0.090681 0.13748 0.02369 119 | -0.058722 0.12924 0.038992 120 | -0.060075 0.11512 0.037685 121 | -0.091812 0.12767 0.038703 122 | -0.091727 0.11657 0.039619 123 | -0.093164 0.12721 0.025211 124 | -0.093938 0.12067 0.024399 125 | -0.091583 0.14522 0.01986 126 | -0.090929 0.13667 0.019817 127 | -0.093094 0.11635 0.018959 128 | 0.024948 0.10286 0.041418 129 | 0.0336 0.092627 0.040463 130 | 0.02742 0.096386 0.043312 131 | 0.03392 0.086911 0.041034 132 | 0.028156 0.086837 0.045084 133 | 0.03381 0.078604 0.040854 134 | 0.028125 0.076874 0.045059 135 | 0.0145 0.093279 0.05088 136 | 0.0074817 0.09473 0.052315 137 | 0.017407 0.10535 0.043139 138 | 0.0079536 0.10633 0.042968 139 | 0.018511 0.097194 0.047253 140 | 0.0086436 0.099323 0.048079 141 | -0.0020197 0.095698 0.053906 142 | -0.011446 0.095169 0.053862 143 | -0.001875 0.10691 0.043455 144 | -0.011875 0.10688 0.043019 145 | -0.0017622 0.10071 0.046648 146 | -0.012498 0.10008 0.045916 147 | 0.016381 0.085894 0.051642 148 | 0.0081167 0.08691 0.055228 149 | 0.017644 0.076955 0.052372 150 | 0.008125 0.076853 0.055536 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391 | -0.077179 0.15851 -0.01495 392 | -0.073691 0.17286 -0.037944 393 | -0.07755 0.17221 -0.039175 394 | -0.065921 0.16586 -0.025022 395 | -0.072095 0.16784 -0.024725 396 | -0.066 0.16808 -0.030916 397 | -0.073448 0.17051 -0.032045 398 | -0.07777 0.16434 -0.025938 399 | -0.077893 0.16039 -0.021299 400 | -0.078211 0.169 -0.034566 401 | -0.034667 0.15131 -0.00071029 402 | -0.066117 0.17353 -0.047453 403 | -0.071986 0.17612 -0.045384 404 | -0.06925 0.182 -0.055026 405 | -0.064992 0.17802 -0.054645 406 | -0.069935 0.17983 -0.051988 407 | -0.07793 0.17516 -0.0444 408 | -------------------------------------------------------------------------------- /example/data/bunny_normal.pcd: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/MASKOR/Qt3DPointcloudRenderer/72ab626e01d4255f97344638b20abfd196cc5e08/example/data/bunny_normal.pcd -------------------------------------------------------------------------------- /example/qml.qrc: -------------------------------------------------------------------------------- 1 | 2 | 3 | qml/main.qml 4 | shader/pointcloud.frag 5 | shader/pointcloud.vert 6 | shader/surfel.frag 7 | shader/surfel.vert 8 | 9 | 10 | -------------------------------------------------------------------------------- /example/qml/main.qml: -------------------------------------------------------------------------------- 1 | import QtQuick 2.4 2 | import QtQuick.Controls 1.3 3 | import QtQuick.Layouts 1.1 4 | import QtGraphicalEffects 1.0 5 | import QtQuick.Scene3D 2.0 6 | import Qt3D.Core 2.0 as Q3D 7 | import Qt3D.Render 2.0 8 | import Qt3D.Input 2.0 9 | import Qt3D.Extras 2.0 10 | 11 | import pcl 1.0 12 | 13 | ApplicationWindow { 14 | id: window 15 | title: qsTr("Map Visualization") 16 | width: 1200 17 | height: 800 18 | visible: true 19 | 20 | PointcloudReader { 21 | id: readerBunny 22 | filename: "data/bunny.pcd" 23 | } 24 | PointcloudReader { 25 | id: readerBunnyNormal 26 | filename: "data/bunny_normal.pcd" 27 | } 28 | 29 | GridLayout { 30 | anchors.fill: parent 31 | Scene3D { 32 | id: scene3d 33 | Layout.minimumWidth: 50 34 | Layout.fillWidth: true 35 | Layout.fillHeight: true 36 | aspects: ["input", "logic"] 37 | cameraAspectRatioMode: Scene3D.AutomaticAspectRatio 38 | focus: true 39 | Q3D.Entity { 40 | id: sceneRoot 41 | 42 | Camera { 43 | id: mainCamera 44 | projectionType: CameraLens.PerspectiveProjection 45 | fieldOfView: 75 46 | aspectRatio: scene3d.width/scene3d.height 47 | nearPlane : 0.1 48 | farPlane : 1000.0 49 | position: Qt.vector3d( 0.0, 0.0, -20.0 ) 50 | upVector: Qt.vector3d( 0.0, 1.0, 0.0 ) 51 | viewCenter: Qt.vector3d( 0.0, 0.0, 0.0 ) 52 | } 53 | 54 | FirstPersonCameraController { 55 | //OrbitCameraController { 56 | camera: mainCamera 57 | } 58 | 59 | components: [ 60 | RenderSettings { 61 | activeFrameGraph: Viewport { 62 | id: viewport 63 | normalizedRect: Qt.rect(0.0, 0.0, 1.0, 1.0) // From Top Left 64 | RenderSurfaceSelector { 65 | CameraSelector { 66 | id : cameraSelector 67 | camera: mainCamera 68 | FrustumCulling { 69 | ClearBuffers { 70 | buffers : ClearBuffers.ColorDepthBuffer 71 | clearColor: "white" 72 | NoDraw {} 73 | } 74 | LayerFilter { 75 | layers: solidLayer 76 | } 77 | LayerFilter { 78 | layers: pointLayer 79 | RenderStateSet { 80 | renderStates: [ 81 | // If this is uncommented, following pointsizes are ignored in Qt5.7 82 | //PointSize { sizeMode: PointSize.Fixed; value: 5.0 }, // exception when closing application in qt 5.7. Moreover PointSize 83 | //PointSize { sizeMode: PointSize.Programmable }, //supported since OpenGL 3.2 84 | DepthTest { depthFunction: DepthTest.Less } 85 | //DepthMask { mask: true } 86 | ] 87 | } 88 | } 89 | LayerFilter { 90 | layers: surfelLayer 91 | RenderStateSet { 92 | renderStates: [ 93 | PointSize { sizeMode: PointSize.Programmable }, //supported since OpenGL 3.2 94 | DepthTest { depthFunction: DepthTest.Less } 95 | //DepthMask { mask: true } 96 | ] 97 | } 98 | } 99 | } 100 | } 101 | } 102 | } 103 | }, 104 | // Event Source will be set by the Qt3DQuickWindow 105 | InputSettings { 106 | eventSource: window 107 | enabled: true 108 | } 109 | ] 110 | 111 | PhongMaterial { 112 | id: phongMaterial 113 | } 114 | 115 | TorusMesh { 116 | id: torusMesh 117 | radius: 5 118 | minorRadius: 1 119 | rings: 100 120 | slices: 20 121 | } 122 | 123 | Q3D.Transform { 124 | id: torusTransform 125 | scale3D: Qt.vector3d(2.5, 2.5, 2.5) 126 | //rotation: fromAxisAndAngle(Qt.vector3d(1, 0, 0), 45) 127 | } 128 | 129 | Layer { 130 | id: solidLayer 131 | } 132 | Layer { 133 | id: pointLayer 134 | } 135 | Q3D.Entity { 136 | id: torusEntity 137 | components: [ solidLayer, torusMesh, phongMaterial, torusTransform ] 138 | } 139 | 140 | Q3D.Entity { 141 | id: pointcloud 142 | property var meshTransform: Q3D.Transform { 143 | id: pointcloudTransform 144 | property real userAngle: rotator.rotationAnimation 145 | scale: 20 146 | translation: Qt.vector3d(0, -2, 0) 147 | rotation: fromAxisAndAngle(Qt.vector3d(0, 1, 0), userAngle) 148 | } 149 | property GeometryRenderer pointcloudMesh: GeometryRenderer { 150 | geometry: PointcloudGeometry { pointcloud: readerBunny.pointcloud } 151 | primitiveType: GeometryRenderer.Points 152 | } 153 | property Material materialPoint: Material { 154 | effect: Effect { 155 | techniques: Technique { 156 | renderPasses: RenderPass { 157 | shaderProgram: ShaderProgram { 158 | vertexShaderCode: loadSource("qrc:/shader/pointcloud.vert") 159 | fragmentShaderCode: loadSource("qrc:/shader/pointcloud.frag") 160 | } 161 | } 162 | } 163 | } 164 | parameters: Parameter { name: "pointSize"; value: 0.7 } 165 | } 166 | //property Material materialPoint: PerVertexColorMaterial {} 167 | components: [ pointcloudMesh, materialPoint, meshTransform, pointLayer ] 168 | } 169 | 170 | Q3D.Entity { 171 | id: pointcloudSurfel 172 | property Layer layerPoints: Layer { 173 | id: surfelLayer 174 | } 175 | property var meshTransform: Q3D.Transform { 176 | id: pointcloudSurfelTransform 177 | property real userAngle: rotator.rotationAnimation 178 | scale: 20 179 | translation: Qt.vector3d(0, 2, 0) 180 | rotation: fromAxisAndAngle(Qt.vector3d(0, 1, 0), userAngle) 181 | } 182 | property GeometryRenderer surfelMesh: GeometryRenderer { 183 | geometry: PointcloudGeometry { pointcloud: readerBunnyNormal.pointcloud } 184 | primitiveType: GeometryRenderer.Points 185 | } 186 | property Material materialSurfel: Material { 187 | effect: Effect { 188 | techniques: Technique { 189 | renderPasses: RenderPass { 190 | shaderProgram: ShaderProgram { 191 | vertexShaderCode: loadSource("qrc:/shader/surfel.vert") 192 | fragmentShaderCode: loadSource("qrc:/shader/surfel.frag") 193 | } 194 | } 195 | } 196 | } 197 | parameters: [ 198 | Parameter { name: "pointSize"; value: 0.06 }, 199 | Parameter { name: "fieldOfView"; value: mainCamera.fieldOfView }, 200 | Parameter { name: "fieldOfViewVertical"; value: mainCamera.fieldOfView/mainCamera.aspectRatio }, 201 | Parameter { name: "nearPlane"; value: mainCamera.nearPlane }, 202 | Parameter { name: "farPlane"; value: mainCamera.farPlane }, 203 | Parameter { name: "width"; value: scene3d.width }, 204 | Parameter { name: "height"; value: scene3d.height } 205 | ] 206 | } 207 | components: [ surfelMesh, materialSurfel, meshTransform, surfelLayer ] 208 | } 209 | } 210 | } 211 | } 212 | NumberAnimation { 213 | id: rotator 214 | property real rotationAnimation 215 | target: rotator 216 | property: "rotationAnimation" 217 | duration: 10000 218 | from: -180 219 | to: 180 220 | 221 | loops: Animation.Infinite 222 | running: true 223 | } 224 | 225 | SystemPalette { 226 | id: palette 227 | } 228 | } 229 | -------------------------------------------------------------------------------- /example/shader/pointcloud.frag: -------------------------------------------------------------------------------- 1 | #version 130 2 | 3 | in vec3 normal; 4 | in vec3 position; 5 | in vec3 color; 6 | 7 | uniform vec3 finalColor; 8 | 9 | out vec4 fragColor; 10 | 11 | void main() 12 | { 13 | // vec3 n = normalize(normal); 14 | // vec3 s = normalize(vec3(1.0, 0.0, 1.0) - position); 15 | // vec3 v = normalize(-position); 16 | // float diffuse = max(dot(s, n), 0.0); 17 | // fragColor = vec4(diffuse * finalColor, 1.0); 18 | // fragColor = vec4(0.0, 0.0, 0.0, 1.0); 19 | fragColor = vec4(color, 1.0); 20 | } 21 | -------------------------------------------------------------------------------- /example/shader/pointcloud.vert: -------------------------------------------------------------------------------- 1 | #version 130 2 | 3 | in vec3 vertexPosition; 4 | in vec3 vertexNormal; 5 | in vec3 vertexColor; 6 | 7 | out vec3 position; 8 | out vec3 normal; 9 | out vec3 color; 10 | 11 | uniform mat4 modelView; 12 | uniform mat3 modelViewNormal; 13 | uniform mat4 mvp; 14 | uniform mat4 projectionMatrix; 15 | uniform mat4 viewportMatrix; 16 | 17 | uniform float pointSize; 18 | 19 | void main() 20 | { 21 | normal = normalize(modelViewNormal * vertexNormal); 22 | position = vec3(modelView * vec4(vertexPosition, 1.0)); 23 | color = vertexPosition * 0.1;//vertexColor; 24 | gl_Position = mvp * vec4(vertexPosition, 1.0); 25 | gl_PointSize = viewportMatrix[1][1] * projectionMatrix[1][1] * pointSize / gl_Position.w; 26 | } 27 | -------------------------------------------------------------------------------- /example/shader/surfel.frag: -------------------------------------------------------------------------------- 1 | #version 150 2 | 3 | uniform mat4 modelView; 4 | uniform mat4 viewMatrix; 5 | uniform mat3 modelViewNormal; 6 | uniform mat4 mvp; 7 | uniform mat4 projectionMatrix; 8 | uniform mat4 inverseProjectionMatrix; 9 | uniform mat4 viewportMatrix; 10 | uniform float nearPlane; 11 | uniform float farPlane; 12 | uniform float width; 13 | uniform float height; 14 | 15 | in vec3 viewspacePosition; 16 | in vec3 viewspaceNormal; 17 | in vec3 viewspaceTang; 18 | in vec3 viewspaceBitang; 19 | in vec3 color; 20 | 21 | 22 | uniform float pointSize; 23 | 24 | out vec4 fragColor; 25 | 26 | void main(void) 27 | { 28 | 29 | // vec3 eyePos = vec3(viewPoint.xy+(gl_PointCoord.xy - vec2(0.5))*2.0, viewPoint.z); //< this is not enough. perspective division was skipped? 30 | // unproject 31 | vec3 ndcPos; 32 | ndcPos.xy = gl_FragCoord.xy / vec2(width, height); 33 | ndcPos.z = 0.0; 34 | ndcPos -= 0.5; 35 | ndcPos *= 2.0; 36 | vec4 clipPos; 37 | clipPos.w = projectionMatrix[3][2] / (ndcPos.z - (projectionMatrix[2][2] / projectionMatrix[2][3])); 38 | //clipPos.w = (2.0 * nearPlane * farPlane / ((nearPlane + farPlane) + ndcPos.z * (nearPlane - farPlane))); 39 | clipPos.xyz = ndcPos * clipPos.w; 40 | vec3 viewspacePositionFragment = vec3(inverseProjectionMatrix * clipPos); 41 | 42 | vec3 normal = normalize(viewspaceNormal); 43 | 44 | // line plane intersection 45 | // t = ( dot(N,O) + d ) / ( dot(N,D) ) 46 | // p = O + t*D 47 | // vec3 O = vec3(0.0); 48 | vec3 ray_dir = normalize(viewspacePositionFragment); 49 | float d = dot(normal, viewspacePosition); 50 | float t = d / dot(normal, ray_dir); 51 | vec3 p = t * ray_dir; 52 | // float distSphere = length(cross(ray_dir, viewspacePosition)); //< sphere 53 | float distDisc = distance(p, viewspacePosition); //< disc 54 | float dist = distDisc; 55 | if(pointSize <= dist) discard; 56 | 57 | fragColor.rgb = color.rgb; 58 | fragColor.a = 1.0;//smoothstep(pointSize*0.5+fwidth(dist), pointSize*0.5, dist); 59 | //if(fragColor.a <= 0.0) discard; 60 | 61 | // todo: fix 62 | //vec3 pp = projectionMatrix * p; 63 | //vec4 reprojeced_ndc_pos = projectionmatrix * -p; 64 | //float ndc_depth = reprojeced_ndc_pos.z / reprojeced_ndc_pos.w; 65 | 66 | //float depth = (((viewport.w-viewport.z) * ndc_depth) + viewport.z + viewport.w) / 2.0; 67 | //gl_FragDepth = depth; 68 | } 69 | -------------------------------------------------------------------------------- /example/shader/surfel.vert: -------------------------------------------------------------------------------- 1 | #version 150 2 | 3 | in vec3 vertexPosition; 4 | in vec3 vertexNormal; 5 | in vec3 vertexColor; 6 | 7 | uniform mat4 modelView; 8 | uniform mat3 modelViewNormal; 9 | uniform mat4 mvp; 10 | uniform mat4 projectionMatrix; 11 | uniform mat4 viewportMatrix; 12 | uniform float fieldOfView; 13 | uniform float fieldOfViewVertical; 14 | 15 | out vec3 viewspacePosition; 16 | out vec3 viewspaceNormal; 17 | out vec3 viewspaceTang; 18 | out vec3 viewspaceBitang; 19 | out vec3 color; 20 | 21 | uniform float pointSize; 22 | 23 | vec4 hsv_to_rgb(float h, float s, float v, float a) 24 | { 25 | float c = v * s; 26 | h = mod((h * 6.0), 6.0); 27 | float x = c * (1.0 - abs(mod(h, 2.0) - 1.0)); 28 | vec4 color; 29 | 30 | if (0.0 <= h && h < 1.0) { 31 | color = vec4(c, x, 0.0, a); 32 | } else if (1.0 <= h && h < 2.0) { 33 | color = vec4(x, c, 0.0, a); 34 | } else if (2.0 <= h && h < 3.0) { 35 | color = vec4(0.0, c, x, a); 36 | } else if (3.0 <= h && h < 4.0) { 37 | color = vec4(0.0, x, c, a); 38 | } else if (4.0 <= h && h < 5.0) { 39 | color = vec4(x, 0.0, c, a); 40 | } else if (5.0 <= h && h < 6.0) { 41 | color = vec4(c, 0.0, x, a); 42 | } else { 43 | color = vec4(0.0, 0.0, 0.0, a); 44 | } 45 | 46 | color.rgb += v - c; 47 | 48 | return color; 49 | } 50 | 51 | void main(void) 52 | { 53 | vec4 viewSpacePos = modelView * vec4(vertexPosition, 1.0); 54 | viewspacePosition = viewSpacePos.xyz; 55 | viewspaceNormal = modelViewNormal * vertexNormal; 56 | viewspaceTang = normalize(cross(viewspaceNormal, vec3(0.0,0.0,1.0))); //longest radius 57 | viewspaceBitang = normalize(cross(viewspaceTang, viewspaceNormal)); //smallest radius 58 | gl_Position = projectionMatrix * viewSpacePos; 59 | 60 | // VERY SLOW 61 | //vec2 csize = max(max(max(max(max(abs(Ap.xy-Bp.xy), abs(Ap.xy-Cp.xy)), abs(Ap.xy-Dp.xy)), abs(Bp.xy-Cp.xy)), abs(Bp.xy-Dp.xy)), abs(Cp.xy-Dp.xy)); 62 | 63 | float dist = -viewSpacePos.z; // == gl_Position.w 64 | 65 | // x2 would be perfect. But the smaller the points are, the better performance is. 66 | gl_PointSize = 1.9 * viewportMatrix[1][1] * projectionMatrix[1][1] * pointSize / gl_Position.w; 67 | color = hsv_to_rgb(vertexPosition.y*10.0, 1.0, 1.0, 0.0).rgb;// * 0.1; 68 | } 69 | -------------------------------------------------------------------------------- /example/src/main.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include "qpointcloud.h" 7 | #include "qpointcloudgeometry.h" 8 | #include "qpointfield.h" 9 | #include "qpointcloudreader.h" 10 | 11 | int main(int argc, char *argv[]) 12 | { 13 | QGuiApplication app(argc, argv); 14 | 15 | qmlRegisterType("pcl", 1, 0, "PointcloudReader"); 16 | qmlRegisterType("pcl", 1, 0, "Pointcloud"); 17 | qmlRegisterType("pcl", 1, 0, "PointcloudGeometry"); 18 | qmlRegisterUncreatableType("pcl", 1, 0, "Pointfield", "Can not yet be created in qml, use PointcloudReader."); 19 | QQmlApplicationEngine engine; 20 | engine.load(QUrl(QStringLiteral("qrc:///qml/main.qml"))); 21 | 22 | int result = app.exec(); 23 | return result; 24 | } 25 | 26 | #ifdef _WIN32 27 | int WINAPI WinMain(HINSTANCE hinst, HINSTANCE, LPSTR argv, int argc) 28 | { 29 | // int argc=1; 30 | // char *argv[] = {"temp"}; 31 | return main(argc, &argv); 32 | } 33 | #endif 34 | -------------------------------------------------------------------------------- /include/qpointcloud.h: -------------------------------------------------------------------------------- 1 | #ifndef QPOINTCLOUD_H 2 | #define QPOINTCLOUD_H 3 | 4 | #include 5 | #include 6 | #include 7 | #include "qpointfield.h" 8 | 9 | 10 | #if WITH_PCL 11 | namespace pcl 12 | { 13 | class PCLPointCloud2; 14 | } 15 | #endif 16 | 17 | #if WITH_LAS 18 | namespace liblas 19 | { 20 | class Reader; 21 | } 22 | #endif 23 | 24 | class QPointcloudPrivate; 25 | class QPointcloud : public QObject 26 | { 27 | Q_OBJECT 28 | Q_PROPERTY(quint32 height READ height WRITE setHeight NOTIFY heightChanged) 29 | Q_PROPERTY(quint32 width READ width WRITE setWidth NOTIFY widthChanged) 30 | Q_PROPERTY(QQmlListProperty fields READ fields NOTIFY fieldsChanged) 31 | Q_PROPERTY(quint8 is_bigendian READ is_bigendian WRITE setIs_bigendian NOTIFY is_bigendianChanged) 32 | Q_PROPERTY(quint32 point_step READ point_step WRITE setPoint_step NOTIFY point_stepChanged) 33 | Q_PROPERTY(quint32 row_step READ row_step WRITE setRow_step NOTIFY row_stepChanged) 34 | Q_PROPERTY(QByteArray data READ data WRITE setData NOTIFY dataChanged) 35 | Q_PROPERTY(quint8 is_dense READ is_dense WRITE setIs_dense NOTIFY is_denseChanged) 36 | Q_PROPERTY(QVector3D minimum READ minimum NOTIFY minimumChanged) 37 | Q_PROPERTY(QVector3D maximum READ maximum NOTIFY maximumChanged) 38 | Q_PROPERTY(QVector3D centroid READ centroid NOTIFY centroidChanged) 39 | Q_PROPERTY(QVector3D offset READ offset NOTIFY offsetChanged) 40 | public: 41 | QPointcloud(QPointcloud *copy); 42 | QPointcloud(QObject *parent = NULL); 43 | //// 44 | /// \brief QPointcloud takes ownership of the given pointcloud 45 | /// \param pointcloud will be deleted in destructor. Do not use shared pointer pcl::PCLPointcloud2Ptr from outside. 46 | /// 47 | QPointcloud(pcl::PCLPointCloud2 *pointcloud); 48 | ~QPointcloud(); 49 | 50 | void updateAttributes(); 51 | 52 | quint32 height() const; 53 | quint32 width() const; 54 | 55 | QQmlListProperty fields(); 56 | 57 | quint8 is_bigendian() const; 58 | quint32 point_step() const; 59 | quint32 row_step() const; 60 | QByteArray data() const; 61 | quint8 is_dense() const; 62 | 63 | const QList &getFields(); 64 | 65 | #if WITH_PCL 66 | pcl::PCLPointCloud2* pointcloud(); 67 | void setPointcloud(const pcl::PCLPointCloud2 ©); 68 | #endif 69 | #if WITH_LAS 70 | /// 71 | /// \brief read Reads a LAS dataset. LAS files often have big offsets which cannot be expressed using float. 72 | /// Thus, an offset must be applied in order to have floatingpoint data which can be visualized. 73 | /// This offset must be either known in advance or must be caluclated in this method 74 | /// (before conversion to floats happens). 75 | /// \param reader the liblas::Reader 76 | /// \param useOffset use the provided offset or output the calculated offset 77 | /// \param offset this is _substracted_ from every point. Offset of pointcloud to viewing coordinate system. 78 | /// \param demean calculate new offset. This overrides useOffset. 79 | /// \param normalize resize the pointcloud to fit a box with size normalizeScale in each direction. This overrides useOffset. 80 | /// \param normalizeScale size to bring the normalized model to. 81 | /// \param flipYZ if visualization uses Y axis up and pointcloud uses Z axis up, this must be true. Should not be used. 82 | /// \param nth only read in every nth point (fake level of detail). 83 | /// 84 | void read(liblas::Reader* reader 85 | , const bool useOffset = false 86 | , double *offsetX = nullptr 87 | , double *offsetY = nullptr 88 | , double *offsetZ = nullptr 89 | , bool demean = false 90 | , bool normalize = false 91 | , float normalizeScale = 1.0f 92 | , bool flipYZ = false 93 | , int nth = 1); 94 | #endif 95 | 96 | void readXyz(QString &path, bool demean = true, bool normalize = true, float normalizeScale = 10.f, bool flipYZ = true); 97 | QVector3D minimum() const; 98 | QVector3D maximum() const; 99 | QVector3D centroid() const; 100 | QVector3D offset() const; 101 | 102 | public Q_SLOTS: 103 | void setHeight(quint32 height); 104 | void setWidth(quint32 width); 105 | void setIs_bigendian(quint8 is_bigendian); 106 | void setPoint_step(quint32 point_step); 107 | void setRow_step(quint32 row_step); 108 | void setData(QByteArray data); 109 | void setIs_dense(quint8 is_dense); 110 | 111 | Q_SIGNALS: 112 | void heightChanged(quint32 height); 113 | void widthChanged(quint32 width); 114 | void fieldsChanged(QQmlListProperty fields); 115 | void is_bigendianChanged(quint8 is_bigendian); 116 | void point_stepChanged(quint32 point_step); 117 | void row_stepChanged(quint32 row_step); 118 | void dataChanged(QByteArray data); 119 | void is_denseChanged(quint8 is_dense); 120 | void minimumChanged(QVector3D minimum); 121 | void maximumChanged(QVector3D maximum); 122 | void centroidChanged(QVector3D centroid); 123 | void offsetChanged(QVector3D offset); 124 | 125 | private: 126 | QPointcloudPrivate *m_priv; 127 | }; 128 | 129 | 130 | 131 | #endif 132 | -------------------------------------------------------------------------------- /include/qpointcloudgeometry.h: -------------------------------------------------------------------------------- 1 | #ifndef QPOINTCLOUDGEOMETRY_H 2 | #define QPOINTCLOUDGEOMETRY_H 3 | 4 | #include 5 | #include "qpointcloud.h" 6 | 7 | class QPointcloudGeometryPrivate; 8 | 9 | class QPointcloudGeometry : public Qt3DRender::QGeometry 10 | { 11 | Q_OBJECT 12 | Q_PROPERTY(QPointcloud *pointcloud READ pointcloud WRITE setPointcloud NOTIFY pointcloudChanged) 13 | 14 | public: 15 | explicit QPointcloudGeometry(QNode *parent = NULL); 16 | ~QPointcloudGeometry(); 17 | void updateVertices(); 18 | 19 | QPointcloud *pointcloud() const; 20 | 21 | 22 | public Q_SLOTS: 23 | void setPointcloud(QPointcloud *pointcloud); 24 | private Q_SLOTS: 25 | void updateAttributes(); 26 | Q_SIGNALS: 27 | void pointcloudChanged(QPointcloud *pointcloud); 28 | 29 | private: 30 | QPointcloudGeometryPrivate *m_p; 31 | }; 32 | 33 | 34 | #endif 35 | -------------------------------------------------------------------------------- /include/qpointcloudreader.h: -------------------------------------------------------------------------------- 1 | #ifndef QPOINTCLOUDREADER_H 2 | #define QPOINTCLOUDREADER_H 3 | 4 | #include 5 | #include "qpointcloud.h" 6 | 7 | class QPointCloudReader : public QObject 8 | { 9 | Q_OBJECT 10 | Q_PROPERTY(QString filename READ filename WRITE setFilename NOTIFY filenameChanged) 11 | Q_PROPERTY(QPointcloud *pointcloud READ pointcloud NOTIFY pointcloudChanged) 12 | public: 13 | QPointCloudReader(); 14 | 15 | QString filename() const; 16 | 17 | QPointcloud *pointcloud() const; 18 | 19 | public Q_SLOTS: 20 | void setFilename(QString filename); 21 | 22 | Q_SIGNALS: 23 | void filenameChanged(QString filename); 24 | void pointcloudChanged(QPointcloud * pointcloud); 25 | 26 | private: 27 | QString m_filename; 28 | QPointcloud *m_pointcloud; 29 | }; 30 | 31 | #endif 32 | -------------------------------------------------------------------------------- /include/qpointfield.h: -------------------------------------------------------------------------------- 1 | #ifndef QPOINTFIELD_H 2 | #define QPOINTFIELD_H 3 | 4 | #if WITH_PCL 5 | namespace pcl { 6 | class PCLPointField; 7 | } 8 | #endif 9 | 10 | #include 11 | 12 | class QPointfield : public QObject 13 | { 14 | Q_OBJECT 15 | Q_ENUMS(PointFieldTypes) 16 | 17 | Q_PROPERTY(QString name READ name WRITE setName NOTIFY nameChanged) 18 | Q_PROPERTY(quint32 offset READ offset WRITE setOffset NOTIFY offsetChanged) 19 | Q_PROPERTY(PointFieldTypes datatype READ datatype WRITE setDatatype NOTIFY datatypeChanged) 20 | Q_PROPERTY(quint32 count READ count WRITE setCount NOTIFY countChanged) 21 | public: 22 | enum PointFieldTypes { INT8, 23 | UINT8, 24 | INT16, 25 | UINT16, 26 | INT32, 27 | UINT32, 28 | FLOAT32, 29 | FLOAT64}; 30 | #if WITH_PCL 31 | QPointfield(QObject *parent, pcl::PCLPointField *field); 32 | QPointfield(pcl::PCLPointField *field); 33 | #endif 34 | QPointfield(QObject *parent, QString name, quint32 offset, PointFieldTypes type, quint32 count); 35 | //QPointfield(const QPointfield &cpy); 36 | QString name() const; 37 | quint32 offset() const; 38 | PointFieldTypes datatype() const; 39 | quint32 count() const; 40 | 41 | #if WITH_PCL 42 | const pcl::PCLPointField* getPointfield() { return m_pointfield; } 43 | #endif 44 | public Q_SLOTS: 45 | 46 | void setName(QString name); 47 | void setOffset(quint32 offset); 48 | void setDatatype(PointFieldTypes datatype); 49 | void setCount(quint32 count); 50 | 51 | Q_SIGNALS: 52 | void nameChanged(QString name); 53 | void offsetChanged(quint32 offset); 54 | void datatypeChanged(PointFieldTypes datatype); 55 | void countChanged(quint32 count); 56 | 57 | private: 58 | 59 | QString m_name; 60 | quint32 m_offset; 61 | PointFieldTypes m_datatype; 62 | quint32 m_count; 63 | #if WITH_PCL 64 | pcl::PCLPointField *m_pointfield; 65 | #endif 66 | }; 67 | 68 | #endif 69 | -------------------------------------------------------------------------------- /src/qpointcloud.cpp: -------------------------------------------------------------------------------- 1 | #include "qpointcloud.h" 2 | #if WITH_PCL 3 | #include 4 | #include 5 | #include 6 | #include 7 | #endif 8 | #if WITH_LAS 9 | #include 10 | #endif 11 | #include 12 | #include 13 | #include 14 | #include 15 | #include //DBG 16 | 17 | class QPointcloudPrivate 18 | { 19 | public: 20 | QPointcloudPrivate(QPointcloud* p) 21 | : m_parent(p) 22 | , m_pointcloud(nullptr) 23 | , m_width(0) 24 | , m_height(1) 25 | , m_is_bigendian(0) 26 | , m_point_step(0) 27 | , m_row_step(0) 28 | , m_data() 29 | , m_is_dense(0) 30 | , m_minimum() 31 | , m_maximum() 32 | , m_centroid() 33 | , m_offset() 34 | , m_dirtyMinMax(true) 35 | , m_dirtyCentroid(true) 36 | {} 37 | QPointcloud *m_parent; 38 | pcl::PCLPointCloud2 *m_pointcloud; 39 | QList m_fields; 40 | 41 | quint32 m_height; 42 | quint32 m_width; 43 | 44 | quint8 m_is_bigendian; 45 | quint32 m_point_step; 46 | quint32 m_row_step; 47 | QByteArray m_data; 48 | quint8 m_is_dense; 49 | 50 | QVector3D m_minimum; 51 | QVector3D m_maximum; 52 | QVector3D m_centroid; 53 | QVector3D m_offset; 54 | bool m_dirtyMinMax; 55 | bool m_dirtyCentroid; 56 | 57 | static void fields_append(QQmlListProperty *self, QPointfield* f); 58 | static int fields_count(QQmlListProperty *self); 59 | static QPointfield* fields_at(QQmlListProperty *self, int i); 60 | static void fields_clear(QQmlListProperty *self); 61 | 62 | void updateMinMax() 63 | { 64 | #if WITH_PCL 65 | pcl::PointXYZ min; 66 | pcl::PointXYZ max; 67 | pcl::PointCloud pc; 68 | pcl::fromPCLPointCloud2( *m_pointcloud, pc); 69 | pcl::getMinMax3D(pc, min, max); 70 | m_minimum = QVector3D(min.x, min.y, min.z); 71 | m_maximum = QVector3D(max.x, max.y, max.z); 72 | m_dirtyMinMax = false; 73 | #endif 74 | #if WITH_LAS 75 | //already done on read 76 | m_dirtyMinMax = false; 77 | #endif 78 | } 79 | void updateCentroid() 80 | { 81 | 82 | } 83 | 84 | // void updateFields() 85 | // { 86 | // for(QList::iterator qiter(m_fields.begin()) ; qiter != m_fields.end() ; qiter++) 87 | // { 88 | // (*qiter)->deleteLater(); 89 | // } 90 | // m_fields.clear(); 91 | //#if WITH_PCL 92 | // if(m_pointcloud) 93 | // { 94 | // for(std::vector< ::pcl::PCLPointField>::iterator iter(m_pointcloud->fields.begin()); 95 | // iter != m_pointcloud->fields.end(); iter++) 96 | // { 97 | // m_fields.append( new QPointfield(m_parent, &(*iter) ) ); 98 | // } 99 | // } 100 | // #if WITH_LAS 101 | // else 102 | // #endif 103 | //#endif 104 | //#if WITH_LAS 105 | // { 106 | // // Standard LAS fields 107 | // QPointfield *f; 108 | // f = new QPointfield(m_parent, "x", 0, QPointfield::FLOAT32, 1); 109 | // f = new QPointfield(m_parent, "y", 8, QPointfield::FLOAT32, 1); 110 | // f = new QPointfield(m_parent, "z", 16, QPointfield::FLOAT32, 1); 111 | // f = new QPointfield(m_parent, "intensity", 24, QPointfield::FLOAT32, 1); 112 | // } 113 | //#endif 114 | // //else TODO: completely custom format for pointclouds 115 | // } 116 | }; 117 | 118 | QPointcloud::QPointcloud(QPointcloud *copy) 119 | :m_priv(new QPointcloudPrivate(this)) 120 | { 121 | #if WITH_PCL 122 | this->setPointcloud( *copy->m_priv->m_pointcloud ); 123 | #endif 124 | } 125 | 126 | QPointcloud::QPointcloud(QObject *parent) 127 | :QObject(parent), 128 | m_priv(new QPointcloudPrivate(this)) 129 | { 130 | #if WITH_PCL 131 | //m_priv->m_pointcloud = new pcl::PCLPointCloud2(); 132 | #endif 133 | } 134 | 135 | #if WITH_PCL 136 | QPointcloud::QPointcloud(pcl::PCLPointCloud2 *pointcloud) 137 | :m_priv(new QPointcloudPrivate(this)) 138 | { 139 | m_priv->m_pointcloud = pointcloud; 140 | } 141 | #endif 142 | 143 | QPointcloud::~QPointcloud() 144 | { 145 | #if WITH_PCL 146 | if(m_priv->m_pointcloud != nullptr) 147 | { 148 | delete m_priv->m_pointcloud; 149 | } 150 | #endif 151 | delete m_priv; 152 | } 153 | 154 | void QPointcloud::updateAttributes() 155 | { 156 | #if WITH_PCL 157 | if(m_priv->m_pointcloud) 158 | { 159 | m_priv->m_fields.clear(); 160 | for(int i=0 ; m_priv->m_pointcloud->fields.size() >i ; ++i) 161 | { 162 | pcl::PCLPointField &pf( m_priv->m_pointcloud->fields[i] ); 163 | m_priv->m_fields.append(new QPointfield(&pf)); 164 | } 165 | } 166 | else 167 | #endif 168 | { 169 | // LAS Attributes are read when LAS is read 170 | } 171 | } 172 | 173 | quint32 QPointcloud::height() const 174 | { 175 | #if WITH_PCL 176 | if(m_priv->m_pointcloud) 177 | { 178 | return m_priv->m_pointcloud->height; 179 | } 180 | else 181 | #endif 182 | { 183 | return m_priv->m_height; 184 | } 185 | } 186 | 187 | quint32 QPointcloud::width() const 188 | { 189 | #if WITH_PCL 190 | if(m_priv->m_pointcloud) 191 | { 192 | return m_priv->m_pointcloud->width; 193 | } 194 | else 195 | #endif 196 | { 197 | return m_priv->m_width; 198 | } 199 | } 200 | 201 | QQmlListProperty QPointcloud::fields() 202 | { 203 | return QQmlListProperty(this, static_cast(m_priv), &QPointcloudPrivate::fields_append, &QPointcloudPrivate::fields_count, &QPointcloudPrivate::fields_at, &QPointcloudPrivate::fields_clear); 204 | } 205 | 206 | void QPointcloudPrivate::fields_append(QQmlListProperty *self, QPointfield *f) 207 | { 208 | QPointcloudPrivate *that = static_cast(self->data); 209 | #if WITH_PCL 210 | if(that->m_pointcloud) 211 | { 212 | // This is not typical for PCL. PCL would create a new pointcloud instead. 213 | // if this is needed, there should be a conversion from PCL Pointcloud to a 214 | // custom pointcloud format. 215 | Q_ASSERT_X(false, "QPointcloud::fields_append", "Must not be called."); 216 | pcl::PCLPointCloud2 *p = static_cast(that->m_pointcloud); 217 | p->fields.push_back(*f->getPointfield()); 218 | } 219 | else 220 | #endif 221 | { 222 | that->m_fields.append(f); 223 | } 224 | } 225 | 226 | int QPointcloudPrivate::fields_count(QQmlListProperty *self) 227 | { 228 | QPointcloudPrivate *that = static_cast(self->data); 229 | #if WITH_PCL 230 | if(that->m_pointcloud) 231 | { 232 | Q_ASSERT_X(that->m_fields.count() == 0, "QPointcloudPrivate::fields_count", "Mixed up pcl and non pcl."); 233 | pcl::PCLPointCloud2 *p = static_cast(that->m_pointcloud); 234 | return p->fields.size(); 235 | } 236 | else 237 | #endif 238 | { 239 | that->m_fields.count(); 240 | } 241 | } 242 | 243 | QPointfield *QPointcloudPrivate::fields_at(QQmlListProperty *self, int i) 244 | { 245 | QPointcloudPrivate *that = static_cast(self->data); 246 | #if WITH_PCL 247 | if(that->m_pointcloud) 248 | { 249 | Q_ASSERT_X(that->m_fields.count() == 0, "QPointcloudPrivate::fields_count", "Mixed up pcl and non pcl."); 250 | pcl::PCLPointCloud2 *p = static_cast(that->m_pointcloud); 251 | return new QPointfield(&p->fields.at(i)); 252 | } 253 | else 254 | #endif 255 | { 256 | that->m_fields.at(i); 257 | } 258 | } 259 | 260 | void QPointcloudPrivate::fields_clear(QQmlListProperty *self) 261 | { 262 | QPointcloudPrivate *that = static_cast(self->data); 263 | #if WITH_PCL 264 | if(that->m_pointcloud) 265 | { 266 | Q_ASSERT_X(that->m_fields.count() == 0, "QPointcloudPrivate::fields_count", "Mixed up pcl and non pcl."); 267 | pcl::PCLPointCloud2 *p = static_cast(that->m_pointcloud); 268 | p->fields.clear(); 269 | } 270 | else 271 | #endif 272 | { 273 | that->m_fields.clear(); 274 | } 275 | } 276 | 277 | quint8 QPointcloud::is_bigendian() const 278 | { 279 | #if WITH_PCL 280 | if(m_priv->m_pointcloud) 281 | { 282 | return m_priv->m_pointcloud->is_bigendian; 283 | } 284 | else 285 | #endif 286 | { 287 | return m_priv->m_is_bigendian; 288 | } 289 | } 290 | 291 | quint32 QPointcloud::point_step() const 292 | { 293 | #if WITH_PCL 294 | if(m_priv->m_pointcloud) 295 | { 296 | return m_priv->m_pointcloud->point_step; 297 | } 298 | else 299 | #endif 300 | { 301 | return m_priv->m_point_step; 302 | } 303 | } 304 | 305 | quint32 QPointcloud::row_step() const 306 | { 307 | #if WITH_PCL 308 | if(m_priv->m_pointcloud) 309 | { 310 | return m_priv->m_pointcloud->row_step; 311 | } 312 | else 313 | #endif 314 | { 315 | return m_priv->m_row_step; 316 | } 317 | } 318 | 319 | QByteArray QPointcloud::data() const 320 | { 321 | #if WITH_PCL 322 | if(m_priv->m_pointcloud) 323 | { 324 | return QByteArray(reinterpret_cast(&m_priv->m_pointcloud->data[0]), m_priv->m_pointcloud->data.size()); 325 | //return QByteArray::fromRawData(reinterpret_cast(&m_priv->m_pointcloud->data[0]), m_priv->m_pointcloud->data.size()); 326 | } 327 | else 328 | #endif 329 | { 330 | return m_priv->m_data; 331 | } 332 | } 333 | 334 | quint8 QPointcloud::is_dense() const 335 | { 336 | #if WITH_PCL 337 | if(m_priv->m_pointcloud) 338 | { 339 | return m_priv->m_pointcloud->is_dense; 340 | } 341 | else 342 | #endif 343 | { 344 | return m_priv->m_is_dense; 345 | } 346 | } 347 | 348 | const QList &QPointcloud::getFields() 349 | { 350 | return m_priv->m_fields; 351 | } 352 | 353 | #if WITH_PCL 354 | pcl::PCLPointCloud2 *QPointcloud::pointcloud() 355 | { 356 | if(nullptr == m_priv->m_pointcloud) 357 | { 358 | m_priv->m_pointcloud = new pcl::PCLPointCloud2(); 359 | } 360 | return m_priv->m_pointcloud; 361 | } 362 | 363 | void QPointcloud::setPointcloud(const pcl::PCLPointCloud2& copy) 364 | { 365 | if(m_priv->m_pointcloud != nullptr) 366 | { 367 | delete m_priv->m_pointcloud; 368 | } 369 | m_priv->m_pointcloud = new pcl::PCLPointCloud2(copy); 370 | } 371 | #endif 372 | 373 | void QPointcloud::readXyz(QString &path, bool demean, bool normalize, float normalizeScale, bool flipYZ) 374 | { 375 | // Not yet implemented 376 | } 377 | 378 | QVector3D QPointcloud::minimum() const 379 | { 380 | if(m_priv->m_dirtyMinMax) 381 | { 382 | m_priv->updateMinMax(); 383 | } 384 | return m_priv->m_minimum; 385 | } 386 | 387 | QVector3D QPointcloud::maximum() const 388 | { 389 | if(m_priv->m_dirtyMinMax) 390 | { 391 | m_priv->updateMinMax(); 392 | } 393 | return m_priv->m_maximum; 394 | } 395 | 396 | QVector3D QPointcloud::centroid() const 397 | { 398 | if(m_priv->m_dirtyCentroid) 399 | { 400 | m_priv->updateCentroid(); 401 | } 402 | return m_priv->m_centroid; 403 | } 404 | 405 | QVector3D QPointcloud::offset() const 406 | { 407 | return m_priv->m_offset; 408 | } 409 | 410 | #if WITH_LAS 411 | void QPointcloud::read(liblas::Reader *reader 412 | , const bool useOffset 413 | , double *offsetX 414 | , double *offsetY 415 | , double *offsetZ 416 | , bool demean 417 | , bool normalize 418 | , float normalizeScale 419 | , bool flipYZ 420 | , int nth 421 | ) 422 | { 423 | const liblas::Header header = reader->GetHeader(); 424 | uint32_t points = header.GetPointRecordsCount(); 425 | 426 | bool hasData = false;// TODO: check if data is a useful feature. // header.GetDataRecordLength() >= 3; 427 | const size_t pointSize = sizeof(float) * 4 // pos 428 | + sizeof(uint8_t) // intensity 429 | + sizeof(uint32_t) // color 430 | + sizeof(uint8_t) * (hasData ? 3 : 0); // data 431 | m_priv->m_data.resize(points*pointSize/nth); 432 | 433 | setPoint_step(pointSize); 434 | setWidth(points/nth); 435 | 436 | size_t offsetIntens = sizeof(float)*3; 437 | size_t offsetColor = offsetIntens + sizeof(uint16_t); 438 | size_t offsetData = offsetColor + sizeof(QRgb); 439 | 440 | double scale, cx, cy, cz; 441 | double minX = header.GetMinX(); 442 | double maxX = header.GetMaxX(); 443 | double minY; 444 | double maxY; 445 | double minZ; 446 | double maxZ; 447 | if(flipYZ) 448 | { 449 | minY = header.GetMinZ(); 450 | maxY = header.GetMaxZ(); 451 | minZ = header.GetMinY(); 452 | maxZ = header.GetMaxY(); 453 | } 454 | else 455 | { 456 | minY = header.GetMinY(); 457 | maxY = header.GetMaxY(); 458 | minZ = header.GetMinZ(); 459 | maxZ = header.GetMaxZ(); 460 | } 461 | if(demean || normalize) 462 | { 463 | double sx = maxX-minX; 464 | double sy = maxY-minY; 465 | double sz = maxZ-minZ; 466 | double maxDim = std::max(std::max(sx, sy), sz); 467 | 468 | if(normalize) 469 | { 470 | scale = normalizeScale / maxDim; 471 | } 472 | else 473 | { 474 | scale = 1.; 475 | } 476 | 477 | cx = minX+sx*0.5; 478 | cy = minY+sy*0.5; 479 | cz = minZ+sz*0.5; 480 | } 481 | else 482 | { 483 | scale = 1.; 484 | if(useOffset) 485 | { 486 | assert(offsetX != nullptr); 487 | assert(offsetY != nullptr); 488 | assert(offsetZ != nullptr); 489 | cx = *offsetX; 490 | cy = *offsetY; 491 | cz = *offsetZ; 492 | } 493 | else 494 | { 495 | cx = header.GetOffsetX(); 496 | cy = header.GetOffsetY(); 497 | cz = header.GetOffsetZ(); 498 | assert(offsetX != nullptr); 499 | assert(offsetY != nullptr); 500 | assert(offsetZ != nullptr); 501 | *offsetX = cx; 502 | *offsetY = cy; 503 | *offsetZ = cz; 504 | } 505 | } 506 | m_priv->m_centroid = QVector3D(cx, cy, cz); // TODO: bounding box center, not really centroid 507 | m_priv->m_minimum = QVector3D(minX-cx, minY-cy, minZ-cz); 508 | m_priv->m_maximum = QVector3D(maxX-cx, maxY-cy, maxZ-cz); 509 | m_priv->m_offset = m_priv->m_centroid; 510 | m_priv->m_dirtyMinMax = false; 511 | m_priv->m_dirtyCentroid = false; 512 | 513 | typedef double (liblas::Point::*GetDimension)() const; 514 | GetDimension dim2, dim3; 515 | if(flipYZ) 516 | { 517 | dim2 = &liblas::Point::GetZ; 518 | dim3 = &liblas::Point::GetY; 519 | } 520 | else 521 | { 522 | dim2 = &liblas::Point::GetY; 523 | dim3 = &liblas::Point::GetZ; 524 | } 525 | m_priv->m_offset = QVector3D(cx, cy, cz); 526 | 527 | // double max[3]; 528 | // double min[3]; 529 | // for(int i=0 ; i<3 ; ++i) 530 | // { 531 | // min[i] = +std::numeric_limits::infinity(); 532 | // max[i] = -std::numeric_limits::infinity(); 533 | // } 534 | uint32_t i=0; 535 | uint32_t pointsPos=0; 536 | while(reader->ReadNextPoint()) 537 | { 538 | if(i++%nth != 0) 539 | continue; 540 | liblas::Point current(reader->GetPoint()); 541 | float value; 542 | // qDebug() << "DBG: x " << current.GetX() << " y: " << current.GetY() << " z: " << current.GetZ(); 543 | // qDebug() << "DBG:rx " << current.GetRawX() << " y: " << current.GetRawY() << " z: " << current.GetRawZ(); 544 | double x = current.GetX(); 545 | double y = (current.*dim2)(); 546 | double z = (current.*dim3)(); 547 | // if(min[0] > x) min[0] = x; 548 | // if(max[0] < x) max[0] = x; 549 | // if(min[1] > y) min[1] = y; 550 | // if(max[1] < y) max[1] = y; 551 | // if(min[2] > z) min[2] = z; 552 | // if(max[2] < z) max[2] = z; 553 | // if(x > maxX) ++outOfBoundsX1; 554 | // if(x < minX) ++outOfBoundsX2; 555 | // if(y > maxY) ++outOfBoundsY1; 556 | // if(y < minY) ++outOfBoundsY2; 557 | // if(z > maxZ) ++outOfBoundsZ1; 558 | // if(z < minZ) ++outOfBoundsZ2; 559 | value = (x-cx)*scale; 560 | memcpy(&m_priv->m_data.data()[pointsPos], &value, sizeof(float)); 561 | value = (y-cy)*scale; 562 | memcpy(&m_priv->m_data.data()[pointsPos+sizeof(float)], &value, sizeof(float)); 563 | value = (z-cz)*scale; 564 | memcpy(&m_priv->m_data.data()[pointsPos+sizeof(float)*2], &value, sizeof(float)); 565 | 566 | uint16_t intensity = current.GetIntensity(); 567 | memcpy(&m_priv->m_data.data()[pointsPos+offsetIntens], &intensity, sizeof(uint16_t)); 568 | 569 | liblas::Color color = current.GetColor(); 570 | QRgb rgb(qRgb(color.GetRed(), color.GetGreen(), color.GetBlue())); 571 | memcpy(&m_priv->m_data.data()[pointsPos+offsetColor], &rgb, sizeof(QRgb)); 572 | 573 | if(hasData) 574 | { 575 | assert(current.GetData().size() >= 3); // In this case header was wrong 576 | memcpy(&m_priv->m_data.data()[pointsPos+offsetData], current.GetData().data(), sizeof(uint8_t)*3); 577 | } 578 | assert(offsetData + sizeof(uint8_t)*3 == pointSize); 579 | pointsPos+=pointSize; 580 | } 581 | // qDebug() << "real bounds: " << min[0] << "|" << max[0] << "," 582 | // << min[1] << "|" << max[1] << "," 583 | // << min[2] << "|" << max[2] << ";"; 584 | 585 | QPointfield *f; 586 | f = new QPointfield(this, "x", 0, QPointfield::FLOAT32, i); 587 | m_priv->m_fields.append(f); 588 | f = new QPointfield(this, "y", 4, QPointfield::FLOAT32, i); 589 | m_priv->m_fields.append(f); 590 | f = new QPointfield(this, "z", 8, QPointfield::FLOAT32, i); 591 | m_priv->m_fields.append(f); 592 | f = new QPointfield(this, "intensity", 12, QPointfield::UINT16, i); 593 | m_priv->m_fields.append(f); 594 | f = new QPointfield(this, "color", 14, QPointfield::UINT32, i); 595 | m_priv->m_fields.append(f); 596 | if(hasData) 597 | { 598 | f = new QPointfield(this, "datax", 18, QPointfield::UINT8, i); 599 | m_priv->m_fields.append(f); 600 | f = new QPointfield(this, "datay", 19, QPointfield::UINT8, i); 601 | m_priv->m_fields.append(f); 602 | f = new QPointfield(this, "dataz", 20, QPointfield::UINT8, i); 603 | m_priv->m_fields.append(f); 604 | } 605 | } 606 | #endif 607 | 608 | void QPointcloud::setHeight(quint32 height) 609 | { 610 | #if WITH_PCL 611 | if(m_priv->m_pointcloud) 612 | { 613 | if (m_priv->m_pointcloud->height == height) 614 | return; 615 | m_priv->m_pointcloud->height = height; 616 | } 617 | else 618 | #endif 619 | { 620 | if (m_priv->m_height == height) 621 | return; 622 | m_priv->m_height = height; 623 | } 624 | Q_EMIT heightChanged(height); 625 | } 626 | 627 | void QPointcloud::setWidth(quint32 width) 628 | { 629 | #if WITH_PCL 630 | if(m_priv->m_pointcloud) 631 | { 632 | if (m_priv->m_pointcloud->width == width) 633 | return; 634 | m_priv->m_pointcloud->width = width; 635 | } 636 | else 637 | #endif 638 | { 639 | if (m_priv->m_width == width) 640 | return; 641 | m_priv->m_width = width; 642 | } 643 | Q_EMIT widthChanged(width); 644 | } 645 | 646 | void QPointcloud::setIs_bigendian(quint8 is_bigendian) 647 | { 648 | #if WITH_PCL 649 | if(m_priv->m_pointcloud) 650 | { 651 | if (m_priv->m_pointcloud->is_bigendian == is_bigendian) 652 | return; 653 | m_priv->m_pointcloud->is_bigendian = is_bigendian; 654 | } 655 | else 656 | #endif 657 | { 658 | if (m_priv->m_is_bigendian == is_bigendian) 659 | return; 660 | m_priv->m_is_bigendian = is_bigendian; 661 | } 662 | Q_EMIT is_bigendianChanged(is_bigendian); 663 | } 664 | 665 | void QPointcloud::setPoint_step(quint32 point_step) 666 | { 667 | #if WITH_PCL 668 | if(m_priv->m_pointcloud) 669 | { 670 | if (m_priv->m_pointcloud->point_step == point_step) 671 | return; 672 | m_priv->m_pointcloud->point_step = point_step; 673 | } 674 | else 675 | #endif 676 | { 677 | if (m_priv->m_point_step == point_step) 678 | return; 679 | m_priv->m_point_step = point_step; 680 | } 681 | 682 | Q_EMIT point_stepChanged(point_step); 683 | } 684 | 685 | void QPointcloud::setRow_step(quint32 row_step) 686 | { 687 | #if WITH_PCL 688 | if(m_priv->m_pointcloud) 689 | { 690 | if (m_priv->m_pointcloud->row_step == row_step) 691 | return; 692 | 693 | m_priv->m_pointcloud->row_step = row_step; 694 | } 695 | else 696 | #endif 697 | { 698 | if (m_priv->m_row_step == row_step) 699 | return; 700 | m_priv->m_row_step = row_step; 701 | } 702 | Q_EMIT row_stepChanged(row_step); 703 | } 704 | 705 | void QPointcloud::setData(QByteArray data) 706 | { 707 | #if WITH_PCL 708 | if(m_priv->m_pointcloud) 709 | { 710 | m_priv->m_pointcloud->data.resize(data.size()); 711 | memcpy(&m_priv->m_pointcloud->data[0], data.data(), m_priv->m_pointcloud->data.size()); 712 | } 713 | else 714 | #endif 715 | { 716 | m_priv->m_data = data; 717 | } 718 | Q_EMIT dataChanged(data); 719 | } 720 | 721 | void QPointcloud::setIs_dense(quint8 is_dense) 722 | { 723 | #if WITH_PCL 724 | if(m_priv->m_pointcloud) 725 | { 726 | if (m_priv->m_pointcloud->is_dense == is_dense) 727 | return; 728 | 729 | m_priv->m_pointcloud->is_dense = is_dense; 730 | } 731 | else 732 | #endif 733 | { 734 | if (m_priv->m_is_dense == is_dense) 735 | return; 736 | m_priv->m_is_dense = is_dense; 737 | } 738 | Q_EMIT is_denseChanged(is_dense); 739 | } 740 | -------------------------------------------------------------------------------- /src/qpointcloudgeometry.cpp: -------------------------------------------------------------------------------- 1 | #include "qpointcloudgeometry.h" 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | 10 | #include 11 | 12 | //QByteArray createPointcloudVertexData(pcl::PCLPointCloud2 *pointcloud) 13 | //{ 14 | // if(pointcloud == NULL || pointcloud->data.size() == 0) 15 | // return QByteArray(); 16 | // //QByteArray arr; 17 | // //arr.append(reinterpret_cast(&pointcloud->data[0]), pointcloud->data.size()); 18 | // return QByteArray(reinterpret_cast(&pointcloud->data[0]), pointcloud->data.size());//arr; 19 | //} 20 | 21 | class PointcloudVertexDataGenerator : public Qt3DRender::QBufferDataGenerator /*Qt3DRender::QBufferFunctor*/ 22 | { 23 | public: 24 | PointcloudVertexDataGenerator(QPointcloud *pointcloud) 25 | : m_bytes(pointcloud->data()) 26 | { 27 | } 28 | 29 | QByteArray operator ()() Q_DECL_OVERRIDE 30 | { 31 | return m_bytes; 32 | } 33 | 34 | bool operator ==(const Qt3DRender::QBufferDataGenerator &other) const Q_DECL_OVERRIDE 35 | { 36 | const PointcloudVertexDataGenerator *otherFunctor = Qt3DRender::functor_cast(&other); 37 | if (otherFunctor != NULL) 38 | return otherFunctor->m_bytes == m_bytes; 39 | return false; 40 | } 41 | 42 | QT3D_FUNCTOR(PointcloudVertexDataGenerator) 43 | 44 | private: 45 | QByteArray m_bytes; 46 | }; 47 | 48 | class PointcloudColorVertexDataGenerator : public Qt3DRender::QBufferDataGenerator /*Qt3DRender::QBufferFunctor*/ 49 | { 50 | public: 51 | PointcloudColorVertexDataGenerator(QPointcloud *pointcloud, bool isUintRgba, int offset) 52 | : m_pointcloud(new QPointcloud(pointcloud)) 53 | , m_isUintRgba(isUintRgba) 54 | , m_colorOffset(offset) 55 | { 56 | } 57 | 58 | QByteArray operator ()() Q_DECL_OVERRIDE 59 | { 60 | int colorChannels = 3; 61 | int size = m_pointcloud->width() * m_pointcloud->height(); 62 | int pointStep = m_pointcloud->point_step(); 63 | QByteArray data = m_pointcloud->data(); 64 | QByteArray colorData; 65 | colorData.resize(sizeof(float)*size*colorChannels); 66 | float *colorDataFloats = reinterpret_cast(colorData.data()); 67 | for(int i=m_colorOffset ; i(&other); 81 | if (otherFunctor != NULL) 82 | return otherFunctor->m_pointcloud == m_pointcloud; 83 | return false; 84 | } 85 | 86 | QT3D_FUNCTOR(PointcloudVertexDataGenerator) 87 | 88 | private: 89 | QSharedPointer m_pointcloud; 90 | bool m_isUintRgba; 91 | int m_colorOffset; 92 | }; 93 | 94 | class QPointcloudGeometryPrivate 95 | { 96 | public: 97 | QPointcloudGeometryPrivate() 98 | :m_vertexBuffer(NULL) 99 | ,m_colorBuffer(NULL) 100 | ,m_pointcloud(NULL) 101 | ,m_colorOffset(0) 102 | ,m_colorFormatUintRgba(false) 103 | ,m_colorAvailable(false) 104 | {} 105 | Qt3DRender::QBuffer *m_vertexBuffer; 106 | Qt3DRender::QBuffer *m_colorBuffer; 107 | QPointcloud *m_pointcloud; 108 | int m_colorOffset; 109 | bool m_colorFormatUintRgba; 110 | bool m_colorAvailable; 111 | }; 112 | 113 | QPointcloudGeometry::QPointcloudGeometry(Qt3DCore::QNode *parent) 114 | :m_p(new QPointcloudGeometryPrivate) 115 | { 116 | m_p->m_vertexBuffer = new Qt3DRender::QBuffer(Qt3DRender::QBuffer::VertexBuffer, this); 117 | m_p->m_colorBuffer = new Qt3DRender::QBuffer(Qt3DRender::QBuffer::VertexBuffer, this); 118 | } 119 | 120 | QPointcloudGeometry::~QPointcloudGeometry() 121 | { 122 | delete m_p; 123 | } 124 | 125 | Qt3DRender::QAttribute::VertexBaseType pclTypeToAttributeType(const QPointfield::PointFieldTypes &inp) 126 | { 127 | switch(inp) 128 | { 129 | case QPointfield::INT8: 130 | return Qt3DRender::QAttribute::Byte; 131 | case QPointfield::INT16: 132 | return Qt3DRender::QAttribute::Short; 133 | case QPointfield::INT32: 134 | return Qt3DRender::QAttribute::Int; 135 | case QPointfield::UINT8: 136 | return Qt3DRender::QAttribute::UnsignedByte; 137 | case QPointfield::UINT16: 138 | return Qt3DRender::QAttribute::UnsignedShort; 139 | case QPointfield::UINT32: 140 | return Qt3DRender::QAttribute::UnsignedInt; 141 | case QPointfield::FLOAT32: 142 | return Qt3DRender::QAttribute::Float; 143 | case QPointfield::FLOAT64: 144 | return Qt3DRender::QAttribute::Double; 145 | default: 146 | Q_ASSERT(false); 147 | return Qt3DRender::QAttribute::Float; 148 | } 149 | } 150 | 151 | void QPointcloudGeometry::updateVertices() 152 | { 153 | if( 154 | #if WITH_PCL 155 | ( m_p->m_pointcloud == NULL 156 | || m_p->m_pointcloud->pointcloud() == NULL 157 | || m_p->m_pointcloud->pointcloud()->data.size() == 0) 158 | && 159 | #endif 160 | ( m_p->m_pointcloud->data().length() == 0)) 161 | return; 162 | 163 | // if(m_p->m_vertexBuffer) 164 | // { 165 | // m_p->m_vertexBuffer->deleteLater(); 166 | // } 167 | 168 | //m_p->m_vertexBuffer->setBufferFunctor(Qt3DRender::QBufferFunctorPtr(new PointcloudVertexDataFunctor(m_p->m_pointcloud->pointcloud()))); 169 | 170 | updateAttributes(); 171 | //QMetaObject::invokeMethod(this, "updateAttributes", Qt::QueuedConnection); 172 | m_p->m_vertexBuffer->setDataGenerator(Qt3DRender::QBufferDataGeneratorPtr(new PointcloudVertexDataGenerator(this->m_p->m_pointcloud))); 173 | if(m_p->m_colorAvailable) { 174 | m_p->m_colorBuffer->setDataGenerator(Qt3DRender::QBufferDataGeneratorPtr(new PointcloudColorVertexDataGenerator(this->m_p->m_pointcloud, m_p->m_colorFormatUintRgba, m_p->m_colorOffset))); 175 | } 176 | } 177 | 178 | QPointcloud *QPointcloudGeometry::pointcloud() const 179 | { 180 | return m_p->m_pointcloud; 181 | } 182 | 183 | void QPointcloudGeometry::updateAttributes() 184 | { 185 | // completely rebuild attribute list and remove all previous attributes 186 | QVector atts = attributes(); 187 | Q_FOREACH(Qt3DRender::QAttribute *attr, atts) 188 | { 189 | if(attr->attributeType() == Qt3DRender::QAttribute::VertexAttribute) 190 | { 191 | removeAttribute(attr); 192 | attr->deleteLater(); 193 | } 194 | else 195 | { 196 | qDebug() << "skipped index"; 197 | } 198 | } 199 | 200 | // Prepare hash table to query attribute names easily 201 | QHash pfs; 202 | m_p->m_pointcloud->updateAttributes(); 203 | 204 | const QList &fieldList = m_p->m_pointcloud->getFields(); 205 | for(auto fieldIter = fieldList.cbegin(); fieldIter != fieldList.cend() ; ++fieldIter) 206 | { 207 | pfs.insert((*fieldIter)->name(), *fieldIter); 208 | } 209 | m_p->m_colorAvailable = false; 210 | 211 | // parse point fields and make reasonable attributes out of them 212 | QHash::const_iterator pf(pfs.find("x")); 213 | if(pf != pfs.cend()) 214 | { 215 | int num = 1 + (pfs.contains("y")?1:0) + (pfs.contains("z")?1:0) + (pfs.contains("w")?1:0); 216 | Qt3DRender::QAttribute* attrib = new Qt3DRender::QAttribute(nullptr); 217 | attrib->setName(Qt3DRender::QAttribute::defaultPositionAttributeName()); 218 | attrib->setDataType(pclTypeToAttributeType((*pf)->datatype())); 219 | attrib->setDataSize(num); 220 | attrib->setAttributeType(Qt3DRender::QAttribute::VertexAttribute); 221 | attrib->setBuffer(m_p->m_vertexBuffer); 222 | attrib->setByteStride(m_p->m_pointcloud->point_step()); 223 | attrib->setByteOffset((*pf)->offset()); 224 | attrib->setCount(m_p->m_pointcloud->width() * m_p->m_pointcloud->height()); 225 | addAttribute(attrib); 226 | setBoundingVolumePositionAttribute(attrib); 227 | } 228 | pf = pfs.find("rgb"); 229 | if(pf != pfs.cend()) 230 | { 231 | int num = 3; 232 | Qt3DRender::QAttribute* attrib = new Qt3DRender::QAttribute(nullptr); 233 | attrib->setName(Qt3DRender::QAttribute::defaultColorAttributeName()); 234 | attrib->setDataType(Qt3DRender::QAttribute::Float); 235 | attrib->setDataSize(num); 236 | attrib->setAttributeType(Qt3DRender::QAttribute::VertexAttribute); 237 | attrib->setBuffer(m_p->m_colorBuffer); 238 | attrib->setByteStride(num * sizeof(float)); 239 | attrib->setByteOffset(0); 240 | attrib->setCount(m_p->m_pointcloud->width() * m_p->m_pointcloud->height()); 241 | addAttribute(attrib); 242 | m_p->m_colorOffset = (*pf)->offset(); 243 | m_p->m_colorFormatUintRgba = false; 244 | m_p->m_colorAvailable = true; 245 | } 246 | pf = pfs.find("rgba"); 247 | if(pf != pfs.cend()) 248 | { 249 | int num = 3; 250 | Qt3DRender::QAttribute* attrib = new Qt3DRender::QAttribute(nullptr); 251 | attrib->setName(Qt3DRender::QAttribute::defaultColorAttributeName()); 252 | attrib->setDataType(Qt3DRender::QAttribute::Float); 253 | attrib->setDataSize(num); 254 | attrib->setAttributeType(Qt3DRender::QAttribute::VertexAttribute); 255 | attrib->setBuffer(m_p->m_colorBuffer); 256 | attrib->setByteStride(num * sizeof(float)); 257 | attrib->setByteOffset(0); 258 | attrib->setCount(m_p->m_pointcloud->width() * m_p->m_pointcloud->height()); 259 | addAttribute(attrib); 260 | m_p->m_colorOffset = (*pf)->offset(); 261 | m_p->m_colorFormatUintRgba = true; 262 | m_p->m_colorAvailable = true; 263 | } 264 | pf = pfs.find("normal_x"); 265 | if(pf != pfs.cend()) 266 | { 267 | int num = 1 + (pfs.contains("normal_y")?1:0) + (pfs.contains("normal_z")?1:0) + (pfs.contains("curvature")?1:0); 268 | Qt3DRender::QAttribute* attrib = new Qt3DRender::QAttribute(nullptr); 269 | attrib->setName(Qt3DRender::QAttribute::defaultNormalAttributeName()); 270 | attrib->setDataType(pclTypeToAttributeType((*pf)->datatype())); 271 | attrib->setDataSize(num); 272 | attrib->setAttributeType(Qt3DRender::QAttribute::VertexAttribute); 273 | attrib->setBuffer(m_p->m_vertexBuffer); 274 | attrib->setByteStride(m_p->m_pointcloud->point_step()); 275 | attrib->setByteOffset((*pf)->offset()); 276 | attrib->setCount(m_p->m_pointcloud->width() * m_p->m_pointcloud->height()); 277 | addAttribute(attrib); 278 | } 279 | pf = pfs.find("intensity"); 280 | if(pf != pfs.cend()) 281 | { 282 | Qt3DRender::QAttribute* attrib = new Qt3DRender::QAttribute(nullptr); 283 | attrib->setName("intensity"); 284 | attrib->setDataType(pclTypeToAttributeType((*pf)->datatype())); 285 | attrib->setDataSize(1); 286 | attrib->setAttributeType(Qt3DRender::QAttribute::VertexAttribute); 287 | attrib->setBuffer(m_p->m_vertexBuffer); 288 | attrib->setByteStride(m_p->m_pointcloud->point_step()); 289 | attrib->setByteOffset((*pf)->offset()); 290 | attrib->setCount(m_p->m_pointcloud->width() * m_p->m_pointcloud->height()); 291 | addAttribute(attrib); 292 | } 293 | } 294 | 295 | void QPointcloudGeometry::setPointcloud(QPointcloud *pointcloud) 296 | { 297 | if (m_p->m_pointcloud == pointcloud) 298 | return; 299 | 300 | m_p->m_pointcloud = pointcloud; 301 | updateVertices(); 302 | Q_EMIT pointcloudChanged(pointcloud); 303 | } 304 | -------------------------------------------------------------------------------- /src/qpointcloudreader.cpp: -------------------------------------------------------------------------------- 1 | #include "qpointcloudreader.h" 2 | #include "pcl/io/pcd_io.h" 3 | #include "pcl/io/ply_io.h" 4 | #include 5 | 6 | QPointCloudReader::QPointCloudReader() 7 | :m_pointcloud(new QPointcloud()) 8 | { 9 | } 10 | 11 | QString QPointCloudReader::filename() const 12 | { 13 | return m_filename; 14 | } 15 | 16 | QPointcloud *QPointCloudReader::pointcloud() const 17 | { 18 | return m_pointcloud; 19 | } 20 | 21 | void QPointCloudReader::setFilename(QString filename) 22 | { 23 | if (m_filename == filename) 24 | return; 25 | 26 | if(filename.endsWith(".pcd", Qt::CaseInsensitive)) 27 | { 28 | pcl::PCDReader reader; 29 | reader.read(filename.toStdString(), *m_pointcloud->pointcloud()); 30 | } 31 | else if(filename.endsWith(".ply", Qt::CaseInsensitive)) 32 | { 33 | pcl::PLYReader reader; 34 | reader.read(filename.toStdString(), *m_pointcloud->pointcloud()); 35 | } 36 | qDebug() << "Read Pointcloud" << filename << "with" << ((m_pointcloud->pointcloud()->width) * (m_pointcloud->pointcloud()->height)) << "points."; 37 | m_filename = filename; 38 | Q_EMIT filenameChanged(filename); 39 | Q_EMIT pointcloudChanged(m_pointcloud); 40 | } 41 | -------------------------------------------------------------------------------- /src/qpointfield.cpp: -------------------------------------------------------------------------------- 1 | #include "qpointfield.h" 2 | 3 | #if WITH_PCL 4 | #include 5 | 6 | pcl::uint8_t toPCLDatatype(const QPointfield::PointFieldTypes& datatype) 7 | { 8 | switch(datatype) 9 | { 10 | case QPointfield::INT8: 11 | return pcl::PCLPointField::INT8; 12 | case QPointfield::UINT8: 13 | return pcl::PCLPointField::UINT8; 14 | case QPointfield::INT16: 15 | return pcl::PCLPointField::INT16; 16 | case QPointfield::UINT16: 17 | return pcl::PCLPointField::UINT16; 18 | case QPointfield::INT32: 19 | return pcl::PCLPointField::INT32; 20 | case QPointfield::UINT32: 21 | return pcl::PCLPointField::UINT32; 22 | case QPointfield::FLOAT32: 23 | return pcl::PCLPointField::FLOAT32; 24 | case QPointfield::FLOAT64: 25 | return pcl::PCLPointField::FLOAT64; 26 | } 27 | Q_ASSERT_X(false, "fromPCLDatatype", "unknown PCL pointfield"); 28 | return pcl::PCLPointField::INT8; 29 | } 30 | QPointfield::PointFieldTypes fromPCLDatatype(const pcl::uint8_t &datatype) 31 | { 32 | switch(datatype) 33 | { 34 | case pcl::PCLPointField::INT8: 35 | return QPointfield::INT8; 36 | case pcl::PCLPointField::UINT8: 37 | return QPointfield::UINT8; 38 | case pcl::PCLPointField::INT16: 39 | return QPointfield::INT16; 40 | case pcl::PCLPointField::UINT16: 41 | return QPointfield::UINT16; 42 | case pcl::PCLPointField::INT32: 43 | return QPointfield::INT32; 44 | case pcl::PCLPointField::UINT32: 45 | return QPointfield::UINT32; 46 | case pcl::PCLPointField::FLOAT32: 47 | return QPointfield::FLOAT32; 48 | case pcl::PCLPointField::FLOAT64: 49 | return QPointfield::FLOAT64; 50 | } 51 | Q_ASSERT_X(false, "toPCLDatatype", "unknown pointfield"); 52 | return QPointfield::INT8; 53 | } 54 | #endif 55 | 56 | #if WITH_PCL 57 | QPointfield::QPointfield(QObject *parent, pcl::PCLPointField *field) 58 | :QObject(parent) 59 | ,m_name(field->name.c_str()) 60 | ,m_offset(field->offset) 61 | ,m_datatype(fromPCLDatatype(field->datatype)) 62 | ,m_count(field->count) 63 | ,m_pointfield(field) 64 | { 65 | } 66 | 67 | QPointfield::QPointfield(pcl::PCLPointField *field) 68 | :m_name(field->name.c_str()) 69 | ,m_offset(field->offset) 70 | ,m_datatype(fromPCLDatatype(field->datatype)) 71 | ,m_count(field->count) 72 | ,m_pointfield(field) 73 | { 74 | } 75 | #endif 76 | 77 | QPointfield::QPointfield(QObject *parent, QString name, quint32 offset, PointFieldTypes type, quint32 count) 78 | :QObject(parent) 79 | ,m_name(name) 80 | ,m_offset(offset) 81 | ,m_datatype(type) 82 | ,m_count(count) 83 | #if WITH_PCL 84 | // Note, there is no way to obtain a pcl point field, if it is not given in constructor. 85 | ,m_pointfield(nullptr) 86 | #endif 87 | { 88 | } 89 | 90 | QString QPointfield::name() const 91 | { 92 | return m_name; 93 | } 94 | 95 | quint32 QPointfield::offset() const 96 | { 97 | return m_offset; 98 | } 99 | 100 | QPointfield::PointFieldTypes QPointfield::datatype() const 101 | { 102 | return m_datatype; 103 | } 104 | 105 | quint32 QPointfield::count() const 106 | { 107 | return m_count; 108 | } 109 | 110 | void QPointfield::setName(QString name) 111 | { 112 | if (m_name == name) 113 | return; 114 | m_name = name; 115 | #if WITH_PCL 116 | if(m_pointfield) 117 | { 118 | std::string stdname(name.toStdString()); 119 | m_pointfield->name = stdname; 120 | } 121 | #endif 122 | Q_EMIT nameChanged(name); 123 | } 124 | 125 | void QPointfield::setOffset(quint32 offset) 126 | { 127 | if (m_offset == offset) 128 | return; 129 | m_offset = offset; 130 | #if WITH_PCL 131 | if(m_pointfield) 132 | { 133 | m_pointfield->offset = offset; 134 | } 135 | #endif 136 | Q_EMIT offsetChanged(offset); 137 | } 138 | 139 | void QPointfield::setDatatype(QPointfield::PointFieldTypes datatype) 140 | { 141 | if (m_datatype == datatype) 142 | return; 143 | m_datatype = datatype; 144 | #if WITH_PCL 145 | if(m_pointfield) 146 | { 147 | m_pointfield->datatype = toPCLDatatype(datatype); 148 | } 149 | #endif 150 | Q_EMIT datatypeChanged(datatype); 151 | } 152 | 153 | void QPointfield::setCount(quint32 count) 154 | { 155 | if (m_count == count) 156 | return; 157 | m_count = count; 158 | #if WITH_PCL 159 | if(m_pointfield) 160 | { 161 | m_pointfield->count = count; 162 | } 163 | #endif 164 | Q_EMIT countChanged(count); 165 | } 166 | --------------------------------------------------------------------------------