[点云处理] cloud compare二次插件功能开发（一）结构搭建

点云处理，有一个出名的处理软件，cloud compare，简称cc，将自己实现的功能以插件形式集成到CC里，方便使用

前提

环境：cc 2.13，qt 5.15，cmake 3.18，vs2019【其他组合也可，本文基于此展开】

能力要求：能够使用cmake成功编译 cc并安装

CC插件概述

CC提供了一种插件化的二次开发方式，以插件的形式，避免了核心代码的修改，利用提供的接口，完成我们需要功能的二次开发

组织结构

cc中的插件全都放在 源码plugins文件夹下

core 是 cc已经实现的插件功能

example 是 cc 提供给我们的示例，本文也基于其中的示例进行开发我们的插件

其中 core 文件夹下，又对插件进行了划分

• GL，基于gl可视化插件
• IO ，涉及IO处理的插件
• Standard ，大部分插件都属于这种

example 文件夹下也对应提供了 相应的示例插件

• ExampleGLPlugin
• ExampleIOPlugin
• ExamplePlugin

本文基于其中的ExamplePlugin插件，也就是标准插件类型，实现一个PCA功能，并可视化

ExamplePlugin

images 中放置的是 icon.png

include 涉及的头文件，自己的功能头文件和用到的其他第三方的头文件

src 功能代码

ExamplePlugin.qrc，qt 组织资源的方式，提供资源的路径给代码使用

info. json，插件的描述，涉及的相关资源路径，以及开发者信息、相关资料

{
    "type": "Standard",
    "name": "MyTest (Standard Plugin)",
    "icon": ":/CC/plugin/MyTestPlugin/images/icon.png",
    "description": "This is a description of the marvelous Example plugin. It does nothing.",
    "authors": [
        {
            "name": "xxx",
            "email": "xxx"
        }
    ],
    "maintainers": [
        {
            "name": "yyy,
            "email": "yyy@gmail.com"
        },
        {
            "name": "zzz"
        }
    ],
    "references": [
        {
            "text": "xx references",
            "url": "http://www.bmj.com/content/333/7582/1285"
        },
        {
            "text": "a test plugin"
        }
    ]
}

cmake 组织

基础的结构讲完，cc 是如何通过某种方式将插件组织起来的，答案就是 cmake

从高到低涉及的 cmakelists.txt 完成了这一任务【下面或区分两条不同路径情况，一个是放在 core\standard ，另一个是放在example】

D:\06-source_code\CloudCompare-2.13\CMakeLists.txt

# ...

# Plugins
add_subdirectory( plugins )

# ...

D:\06-source_code\CloudCompare-2.13\plugins\CMakeLists.txt

# ...

add_subdirectory( core )
add_subdirectory( example )

# ...

D:\06-source_code\CloudCompare-2.13\plugins\core\CMakeLists.txt 【D:\06-source_code\CloudCompare-2.13\plugins\example\CMakeLists.txt】

add_subdirectory( GL )
add_subdirectory( IO )
add_subdirectory( Standard )

或

add_subdirectory( ${CMAKE_CURRENT_SOURCE_DIR}/ExampleGLPlugin )
add_subdirectory( ${CMAKE_CURRENT_SOURCE_DIR}/ExampleIOPlugin )
add_subdirectory( ${CMAKE_CURRENT_SOURCE_DIR}/ExamplePlugin )

D:\06-source_code\CloudCompare-2.13\plugins\core\Standard\CMakeLists.txt

add_subdirectory( qAnimation )
add_subdirectory( qBroom )
add_subdirectory( qCanupo )
add_subdirectory( qCloudLayers )
add_subdirectory( qCompass )
add_subdirectory( qCork )
add_subdirectory( qCSF )
add_subdirectory( qFacets )
add_subdirectory( qHoughNormals )
add_subdirectory( qHPR )
add_subdirectory( qM3C2 )
add_subdirectory( qPCL )
add_subdirectory( qPCV )
add_subdirectory( qPoissonRecon )
add_subdirectory( qRANSAC_SD )
add_subdirectory( qSRA )
add_subdirectory( qMeshBoolean )

#plugins integrated as submodules
set( submod_plugins
        ${CMAKE_CURRENT_SOURCE_DIR}/qColorimetricSegmenter
        ${CMAKE_CURRENT_SOURCE_DIR}/qMasonry
        ${CMAKE_CURRENT_SOURCE_DIR}/qMPlane
        ${CMAKE_CURRENT_SOURCE_DIR}/qJSonRPCPlugin
        ${CMAKE_CURRENT_SOURCE_DIR}/qTreeIso
        ${CMAKE_CURRENT_SOURCE_DIR}/q3DMASC
)

foreach( dir ${submod_plugins} )
    if( IS_DIRECTORY ${dir} AND EXISTS ${dir}/CMakeLists.txt )
        message( STATUS "Found submodule plugin: " ${dir} )
        add_subdirectory( ${dir} )
    endif()
endforeach()

具体插件的CMakeLists.txt

【D:\06-source_code\CloudCompare-2.13\plugins\core\Standard\qPCA\CMakeLists.txt】或【D:\06-source_code\CloudCompare-2.13\plugins\example\ExamplePlugin\CMakeLists.txt】

# ...

或

# CloudCompare example for standard plugins

# REPLACE ALL 'ExamplePlugin' OCCURENCES BY YOUR PLUGIN NAME
# AND ADAPT THE CODE BELOW TO YOUR OWN NEEDS!

# Add an option to CMake to control whether we build this plugin or not
option( PLUGIN_EXAMPLE_STANDARD "Install example plugin" OFF )

if ( PLUGIN_EXAMPLE_STANDARD )
    project( ExamplePlugin )

    AddPlugin( NAME ${PROJECT_NAME} )

    add_subdirectory( include )
    add_subdirectory( src )

    # set dependencies to necessary libraries
    # target_link_libraries( ${PROJECT_NAME} LIB1 )
endif()

具体开发前修改

info.json

{
    "type": "Standard",
    "name": "PCA (Standard Plugin)",
    "icon": ":/CC/plugin/qPCA/images/icon.png",
    "description": "This is a description of the PCA plugin. It does nothing.",
    "authors": [
        {
            "name": "xxx",
            "email": "xxx"
        }
    ],
    "maintainers": [
        {
            "name": "yyy,
            "email": "yyy@gmail.com"
        },
        {
            "name": "zzz"
        }
    ],
    "references": [
        {
            "text": "xx references",
            "url": "http://www.bmj.com/content/333/7582/1285"
        },
        {
            "text": "a PCA plugin"
        }
    ]
}

具体插件上一级的CMakeLists.txt，这里是 Standard\CMakeLists.txt

add_subdirectory( qAnimation )
add_subdirectory( qBroom )
add_subdirectory( qCanupo )
add_subdirectory( qCloudLayers )
add_subdirectory( qCompass )
add_subdirectory( qCork )
add_subdirectory( qCSF )
add_subdirectory( qFacets )
add_subdirectory( qHoughNormals )
add_subdirectory( qHPR )
add_subdirectory( qM3C2 )
add_subdirectory( qPCL )
add_subdirectory( qPCV )
add_subdirectory( qPoissonRecon )
add_subdirectory( qRANSAC_SD )
add_subdirectory( qSRA )
add_subdirectory( qMeshBoolean )

# --------------------
add_subdirectory( qPCA )
# --------------------

#plugins integrated as submodules
set( submod_plugins
        ${CMAKE_CURRENT_SOURCE_DIR}/qColorimetricSegmenter
        ${CMAKE_CURRENT_SOURCE_DIR}/qMasonry
        ${CMAKE_CURRENT_SOURCE_DIR}/qMPlane
        ${CMAKE_CURRENT_SOURCE_DIR}/qJSonRPCPlugin
        ${CMAKE_CURRENT_SOURCE_DIR}/qTreeIso
        ${CMAKE_CURRENT_SOURCE_DIR}/q3DMASC
)

foreach( dir ${submod_plugins} )
    if( IS_DIRECTORY ${dir} AND EXISTS ${dir}/CMakeLists.txt )
        message( STATUS "Found submodule plugin: " ${dir} )
        add_subdirectory( ${dir} )
    endif()
endforeach()

具体插件的CMakeLists.txt， qPCA/CMakeLists.txt

# CloudCompare example for standard plugins

# REPLACE ALL 'ExamplePlugin' OCCURENCES BY YOUR PLUGIN NAME
# AND ADAPT THE CODE BELOW TO YOUR OWN NEEDS!

# Add an option to CMake to control whether we build this plugin or not
# option( PLUGIN_EXAMPLE_STANDARD "Install example plugin" OFF )
option( PLUGIN_qPCA "Install example plugin" OFF )

# if ( PLUGIN_EXAMPLE_STANDARD )
if ( PLUGIN_qPCA )
    # project( ExamplePlugin )
    project( QPCA_PLUGIN ) # 全部大写

    AddPlugin( NAME ${PROJECT_NAME} )

    add_subdirectory( include )
    add_subdirectory( src )

    # 添加其他需要的库 set dependencies to necessary libraries 
    # target_link_libraries( ${PROJECT_NAME} LIB1 )
endif()

更新ExamplePlugin 中的文件名为新插件对应的名称

ExamplePlugin.qrc ---> qPCA.qrc

ExamplePlugin.h ---> qPCA.h

ExamplePlugin.cpp ---> qPCA.cpp

src include 下的 CMakeLists.txt 更新文件名

src/CMakeLists.txt

target_sources( ${PROJECT_NAME}
    PRIVATE
        ${CMAKE_CURRENT_LIST_DIR}/ActionA.cpp
        # ${CMAKE_CURRENT_LIST_DIR}/ExamplePlugin.cpp
        ${CMAKE_CURRENT_LIST_DIR}/qPCA.cpp
        # 其他新加文件
)

include/CMakeLists.txt

target_sources( ${PROJECT_NAME}
    PRIVATE
        ${CMAKE_CURRENT_LIST_DIR}/ActionA.h
        # ${CMAKE_CURRENT_LIST_DIR}/ExamplePlugin.h
        ${CMAKE_CURRENT_LIST_DIR}/qPCA.h
        # 候选其他头文件也要在这添加
)

target_include_directories( ${PROJECT_NAME}
    PRIVATE
        ${CMAKE_CURRENT_SOURCE_DIR}
)

更新ExamplePlugin.qrc，更新资源路径

直接用 vscode 打开 修改

    
        images/icon.png
        info.json
    

修改后

此图片为后面生成project 后在vs中修改

主文件修改

修改qPCA.cpp

# #include "ExamplePlugin.h" 改为
#include "qPCA.h"

# ,ccStdPluginInterface( ":/CC/plugin/ExamplePlugin/info.json" )

,ccStdPluginInterface( ":/CC/plugin/qPCA/info.json" )

修改qPCA.h

# Q_PLUGIN_METADATA( IID "cccorp.cloudcompare.plugin.Example" FILE "../info.json" )
Q_PLUGIN_METADATA( IID "cccorp.cloudcompare.plugin.qPCA" FILE "../info.json" )

cmake 构建

可以看到我们的 qPCA 插件选项，选中

然后生成project

运行

下一篇，我们来实现具体的PCA逻辑和可视化效果

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