toys/svl/examples/osgpcl/source/main.cpp

#include <osgViewer/Viewer>
#include <osgViewer/ViewerEventHandlers>
#include <osg/Node>
#include <osg/Geode>
#include <osg/Geometry>
#include <osgDB/ReaderWriter>
#include <osgDB/ReadFile>
#include <osgDB/WriteFile>
#include <osgGA/StateSetManipulator>
#include <osgUtil/Optimizer>
#include <osgUtil/DelaunayTriangulator>
#include <pcl/io/ply_io.h>
#include <pcl/point_types.h>
#include <iostream>

int main()
{
    osg::ref_ptr<osgViewer::Viewer> viewer = new osgViewer::Viewer() ;
    viewer->addEventHandler(new osgGA::StateSetManipulator(viewer->getCamera()->getOrCreateStateSet())) ;
    osg::ref_ptr<osg::Group> root = new osg::Group() ;
    //创建顶点数组
    osg::ref_ptr<osg::Vec3Array> coords = new osg::Vec3Array() ;
    osg::ref_ptr<osg::Vec4Array> color = new osg::Vec4Array() ;

    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>) ;
    if (pcl::io::loadPLYFile("3-1-2.ply" , *cloud) == -1)
    {
        std::cout<<"读取点云失败！\n" ;
        return -1 ;
    }
    int nums = cloud->size() ;
    std::cout<<"点云数据："<<nums<<std::endl ;
    int k = 0 ;
    for (int i = 0 ; i < nums ; ++i)
    {
        coords->push_back(osg::Vec3(cloud->points[i].x , cloud->points[i].y , cloud->points[i].z)) ;
        color->push_back(osg::Vec4(1.0f , 0.0f , 0.0f , 0.3f)) ;
        k++ ;
    }

    //创建几何体
    osg::ref_ptr<osg::Geometry> geometry = new osg::Geometry() ;
    //设置顶点数组
    geometry->setVertexArray(coords.get()) ;
    geometry->setColorArray(color.get()) ;
    geometry->setColorBinding(osg::Geometry::BIND_PER_VERTEX) ;

    osg::Vec3Array *normals = new osg::Vec3Array ;
    normals->push_back(osg::Vec3(0.0f , 1.0f , 0.0f)) ;
    geometry->setNormalArray(normals) ;
    geometry->setNormalBinding(osg::Geometry::BIND_OVERALL) ;
    geometry->addPrimitiveSet(new osg::DrawArrays(osg::PrimitiveSet::POINTS , 0 , k)) ; //设置关联方式

    //添加到叶节点
    osg::ref_ptr<osg::Geode> geode = new osg::Geode() ;
    geode->addDrawable(geometry.get()) ;
    root->addChild(geode.get()) ;

    //优化场景数据
    osgUtil::Optimizer optimizer ;
    optimizer.optimize(root.get()) ;
    viewer->setSceneData(root.get()) ;

    viewer->realize() ;
    viewer->run() ;

    return 1 ;
}