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

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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

<RCC>

    <qresource prefix="/CC/plugin/ExamplePlugin">

        <file>images/icon.png</file>

        <file>info.json</file>

    </qresource>

</RCC>

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