点云纹理映射 matlab,VTK渲染raw格式的三维点云数据，并纹理贴图（纹理映射）...

#include#include#include#include#include#include#include #include#include#include#include#include#include#include#include#include#include#include#include#include#include#include#include#include#include#include#include#include#include#include#include#include#include#include VTK_MODULE_INIT(vtkRenderingOpenGL2);

VTK_MODULE_INIT(vtkInteractionStyle);

#define RAW_FILE "E:\\1.raw"

#define BMP_File "E:\\PatMatch.bmp"

#define TEX_FILE "E:\\1000wMono8_3840_2748.raw"

#define TEX_WIDE 3840

#define TEX_HIGH 2748

//R,S,T轴是否翻转

#define R_FLIP 1

#define S_FLIP 1

#define T_FLIP 1

#define MAX_Point 1000000

typedef struct 3D_POINT__

{

float fX;

float fY;

float fZ;

} 3D_POINT;

3D_POINT 3D_point[MAX_Point];

long nPointNum = 0;

double X_angle = 0;

double Y_angle = 0;

double Z_angle = 0; //一般修改此参数来调整贴图方向

int main()

{

//读取BMP

vtkSmartPointerbmpReader = vtkSmartPointer::New();

bmpReader->SetFileName(BMP_File);

//读取缓存或网络的raw格式的纹理

/*vtkSmartPointerraw_bmp = vtkSmartPointer::New(); //创建图像

vtkSmartPointerinfo = vtkSmartPointer::New();

raw_bmp->SetDimensions(TEX_WIDE,TEX_HIGH,1); //指定维数

raw_bmp->SetScalarType(VTK_UNSIGNED_CHAR,info); //指定图像的像素数据类型为unsigned char

raw_bmp->SetNumberOfScalarComponents(1, info); //每个像素值为一个标量

raw_bmp->SetSpacing(1, 1,0);

raw_bmp->AllocateScalars(info); //分配内存

unsigned char *ptr = (unsigned char*)raw_bmp->GetScalarPointer();

ifstream fin_Tex(TEX_FILE, ios::binary | ios::in);

if (!fin_Tex)

{

cout << "File open error!\n";

return 1;

}

int i = 0;

while (!fin_Tex.eof())

{

fin_Tex.read((char *)&pData[i],sizeof(char));

i++;

}

fin_Tex.close();

for (int j = 0; j < TEX_WIDE*TEX_HIGH; j++)

{

*ptr= (unsigned char)pData[j];

ptr++;

}

*/

/*

//读取本地raw格式的纹理

vtkSmartPointerrawReader = vtkSmartPointer::New();

rawReader->SetFileName(TEX_FILE);

rawReader->SetFileDimensionality(2);//设置显示图像的维数

rawReader->SetDataScalarTypeToUnsignedChar();//将数据转换为unsigned char型

rawReader->SetDataExtent(0, 3840, 0, 2784, 0,0);//需手动设置图像各维的大小

rawReader->SetDataSpacing(1,1,0); //设置像素间间距

//rawReader->SetDataOrigin(0.0, 0.0, 0.0);//设置基准点

*/

//在纹理上设置变换，进行缩放，旋转和平移纹理。

vtkSmartPointertransform = vtkSmartPointer::New();

//旋转

//创建一个关于X、Y或Z轴的旋转矩阵，角度以度表示

transform->RotateX(X_angle);

transform->RotateY(Y_angle);

transform->RotateZ(Z_angle); //一般调整此参数来调整贴图方向

//纹理

vtkSmartPointertexture = vtkSmartPointer::New();

texture->SetInputConnection(bmpReader->GetOutputPort());

//texture->SetInputConnection(rawReader->GetOutputPort());

//texture->SetInputData(raw_bmp);

texture->InterpolateOn();

texture->SetTransform(transform);

vtkSmartPointer points = vtkSmartPointer ::New(); //点

vtkSmartPointer cells = vtkSmartPointer ::New(); //顶点，用于焦点渲染

vtkIdType idtype;

//读取raw的二进制数据

ifstream fin(RAW_FILE, ios::binary | ios::in);

if (!fin)

{

cout << "File open error!\n";

return 1;

}

while (!fin.eof())

{

fin.read((char *)&3D_point[nPointNum], sizeof(3D_POINT));

idtype = points->InsertNextPoint(3D_point[nPointNum].fX, 3D_point[nPointNum].fY, 3D_point[nPointNum].fZ);

cells->InsertNextCell(1, &idtype);

nPointNum++;

}

fin.close();

//设置polyData的内容

vtkSmartPointer polyData = vtkSmartPointer ::New();

polyData->SetPoints(points);

polyData->SetVerts(cells);

//将二维纹理空间映射到一个简单的三维物体表面，例如球面、圆柱面等

//这里将 2D 纹理坐标生成映射输入的纹理数据集点至一个2D平面上

vtkSmartPointertextureMap =

vtkSmartPointer::New();

textureMap->SetInputData(polyData);

//用来变换纹理坐标，包括缩放、旋转和平移。

vtkSmartPointertransformTextureCoords =

vtkSmartPointer::New();

transformTextureCoords->SetInputConnection(textureMap->GetOutputPort());

//翻转

transformTextureCoords->SetFlipR(R_FLIP);

transformTextureCoords->SetFlipS(S_FLIP);

transformTextureCoords->SetFlipT(T_FLIP);

transformTextureCoords->SetOrigin(0.5,0.5,0.5); //设置原点

transformTextureCoords->SetScale(1, 1, 0); //贴图大小

//将polyData转换为几何图元

vtkSmartPointer mapper = vtkSmartPointer ::New();

mapper->SetInputConnection(transformTextureCoords->GetOutputPort());

//可视化表达

vtkSmartPointer actor = vtkSmartPointer ::New();

actor->SetMapper(mapper);

actor->SetTexture(texture);

//负责管理场景的渲染过程

vtkSmartPointer renderer = vtkSmartPointer::New();

renderer->AddActor(actor);

//连接操作系统与VTK的渲染引擎

vtkSmartPointer renWin = vtkSmartPointer::New();

renWin->AddRenderer(renderer);

renWin->SetSize(800, 800);

//交互

vtkSmartPointer iren = vtkSmartPointer::New();

iren->SetRenderWindow(renWin);

//交互器样式中的“相机”，用来旋转放大缩小

vtkSmartPointer style = vtkSmartPointer ::New();

iren->SetInteractorStyle(style);

iren->Initialize();

iren->Start();

return 0;

}

RAW文件里是三维的二进制坐标X,Y,Z

参考文献：

fstream读写二进制文件

VTK教程系列导航

VTK实现纹理贴图

VTK 简单点云数据显示绘制

VTK点云数据显示

VTK笔记——纹理映射

VTK纹理映射之vtkTransformTextureCoods

VTK纹理映射及原理

图形处理之纹理映射vtkTextureMapToCylinder

纹理贴图(立方体、平面(vtkPlaneSource)、球(vtkSphereSource)、圆柱体(vtkCylinderSource))