CloudCompare

Version 2.6.1

User manual

索引表

介绍…………………………………………………………………………………………………………………………………………………………………. 7
历史………………………………………………………………………………………………………………………………………………………….. 7
哲学………………………………………………………………………………………………………………………………………………………….. 7
点云与网格……………………………………………………………………………………………………………………………………………..7
标量场…………………………………………………………………………………………………………………………………………………….8
一些技术考虑…………………………………………………………………………………………………………………………………………….. 8
便携式…………………………………………………………………………………………………………………………………………………… 8
存储和速度之间的权衡…………………………………………………………………………………………………………………………… 8
最近的进化……………………………………………………………………………………………………………………………………………….. 9
许可证………………………………………………………………………………………………………………………………………………………. 9
在线版本…………………………………………………………………………………………………………………………………………………….9
一般概念………………………………………………………………………………………………………………………………………………………10
图形用户界面…………………………………………………………………………………………………………………………………………… 10
实体………………………………………………………………………………………………………………………………………………………….11
主要实体……………………………………………………………………………………………………………………………………………….11
点云关联结构………………………………………………………………………………………………………………………………………..12
其他实体………………………………………………………………………………………………………………………………………………. 13
数据库树…………………………………………………………………………………………………………………………………………………..15
拖放………………………………………………………………………………………………………………………………………………………15
甄选………………………………………………………………………………………………………………………………………………………15
上下文菜单…………………………………………………………………………………………………………………………………………… 15
实体属性…………………………………………………………………………………………………………………………………………………..16
标量场显示参数编辑器…………………………………………………………………………………………………………………………. 17
支持的文件格式……………………………………………………………………………………………………………………………………….. 18
显示模式…………………………………………………………………………………………………………………………………………………. 20
主显示模式………………………………………………………………………………………………………………………………………….. 20
全球转变与规模……………………………………………………………………………………………………………………………………….. 23
介………………………………………………………………………………………………………………………………………………………… 23
但为什么呢？………………………………………………………………………………………………………………………………………..23
数学…………………………………………………………………………………………………………………………………………………….. 23
属性…………………………………………………………………………………………………………………………………………………….. 24
版本…………………………………………………………………………………………………………………………………………………….. 24
书签…………………………………………………………………………………………………………………………………………………….. 24
教程和指南………………………………………………………………………………………………………………………………………………….. 25
Alignment and Registration ………………………………………………………………………………………………………………………… 25
General considerations…………………………………………………………………………………………………………………………… 25
Alignment……………………………………………………………………………………………………………………………………………… 26
Automatic registration……………………………………………………………………………………………………………………………. 27
Distances Computation………………………………………………………………………………………………………………………………. 29
Cloud-cloud distances…………………………………………………………………………………………………………………………….. 29
Cloud-mesh distances…………………………………………………………………………………………………………………………….. 31
How to compare two 3D entities…………………………………………………………………………………………………………………. 32
Load data ……………………………………………………………………………………………………………………………………………… 32
Data preparation……………………………………………………………………………………………………………………………………. 32
Data comparison……………………………………………………………………………………………………………………………………. 34
Tools and algorithms……………………………………………………………………………………………………………………………………… 36
File menu …………………………………………………………………………………………………………………………………………………. 36
Open…………………………………………………………………………………………………………………………………………………….. 36
Save……………………………………………………………………………………………………………………………………………………… 37
Primitive Factory ……………………………………………………………………………………………………………………………………. 38
3D mouse > Enable ………………………………………………………………………………………………………………………………… 39
Close all ………………………………………………………………………………………………………………………………………………… 39
Quit ……………………………………………………………………………………………………………………………………………………… 39
Edit menu…………………………………………………………………………………………………………………………………………………. 40
Clone ……………………………………………………………………………………………………………………………………………………. 40
Merge…………………………………………………………………………………………………………………………………………………… 40
Subsample…………………………………………………………………………………………………………………………………………….. 41
Apply Transformation …………………………………………………………………………………………………………………………….. 43
Multiply / Scale ……………………………………………………………………………………………………………………………………… 44
Translate / Rotate (Interactive Transformation Tool)………………………………………………………………………………….. 45
Segment (Interactive Segmentation Tool)…………………………………………………………………………………………………. 46
Crop……………………………………………………………………………………………………………………………………………………… 50
Edit global shift and scale ……………………………………………………………………………………………………………………….. 51
Toggle (recursive) menu …………………………………………………………………………………………………………………………. 52
Delete…………………………………………………………………………………………………………………………………………………… 53
Colors > Set Unique………………………………………………………………………………………………………………………………… 53
Colors > Colorize ……………………………………………………………………………………………………………………………………. 53
Colors > Levels ………………………………………………………………………………………………………………………………………. 54
Colors > Height Ramp……………………………………………………………………………………………………………………………… 55
Colors > Convert to Scalar Field ……………………………………………………………………………………………………………….. 56
Colors > Interpolate from another entity ………………………………………………………………………………………………….. 56
Colors > Clear………………………………………………………………………………………………………………………………………… 57
Normals > Compute ……………………………………………………………………………………………………………………………….. 57
Normals > Invert ……………………………………………………………………………………………………………………………………. 59
校准和定位………………………………………………………………………………………………………………………………………………. 25
一般性考虑…………………………………………………………………………………………………………………………………………… 25
校准………………………………………………………………………………………………………………………………………………………26
自动登记………………………………………………………………………………………………………………………………………………. 27
距离计算…………………………………………………………………………………………………………………………………………………..29
云云距离………………………………………………………………………………………………………………………………………………. 29
云网格距离…………………………………………………………………………………………………………………………………………… 31
如何比较两个三维实体…………………………………………………………………………………………………………………………….. 32
加载数据……………………………………………………………………………………………………………………………………………… 32
数据准备……………………………………………………………………………………………………………………………………………….32
数据对比……………………………………………………………………………………………………………………………………………… 34
工具和算法………………………………………………………………………………………………………………………………………………….. 36
文件菜单…………………………………………………………………………………………………………………………………………………. 36
打开…………………………………………………………………………………………………………………………………………………….. 36
保存………………………………………………………………………………………………………………………………………………………37
原始工厂……………………………………………………………………………………………………………………………………………… 38
三维鼠标>启用…………………………………………………………………………………………………………………………………….. 39
全部关闭……………………………………………………………………………………………………………………………………………….39
离开………………………………………………………………………………………………………………………………………………………39
编辑菜单…………………………………………………………………………………………………………………………………………………. 40
克隆…………………………………………………………………………………………………………………………………………………….. 40
合并…………………………………………………………………………………………………………………………………………………….. 40
子样本………………………………………………………………………………………………………………………………………………….. 41
应用变形………………………………………………………………………………………………………………………………………………. 43
乘以/缩放…………………………………………………………………………………………………………………………………………….. 44
翻译/旋转（交互式转换工具）……………………………………………………………………………………………………………… 45
分段（交互式分割工具）……………………………………………………………………………………………………………………… 46
作物…………………………………………………………………………………………………………………………………………………….. 50
编辑全局移动和缩放…………………………………………………………………………………………………………………………….. 51
切换（递归）菜单………………………………………………………………………………………………………………………………… 52
删除…………………………………………………………………………………………………………………………………………………….. 53
颜色>设置唯一………………………………………………………………………………………………………………………………………53
颜色>色彩化………………………………………………………………………………………………………………………………………… 53
颜色>等级……………………………………………………………………………………………………………………………………………. 54
颜色>高度坡度………………………………………………………………………………………………………………………………………55
颜色>转换为标量场……………………………………………………………………………………………………………………………….56
颜色>从其他实体插值……………………………………………………………………………………………………………………………56
颜色>清晰……………………………………………………………………………………………………………………………………………. 57
正常>检查……………………………………………………………………………………………………………………………………………. 57
正常>反转……………………………………………………………………………………………………………………………………………. 59
Normals > Orient Normals > With Minimum Spanning Tree ………………………………………………………………………… 59
Normals > Orient Normals > With Fast Marching……………………………………………………………………………………….. 59
Normals > Convert to > HSV…………………………………………………………………………………………………………………….. 60
Normals > Convert to > Dip and Dip direction SFs………………………………………………………………………………………. 60
Normals > Clear……………………………………………………………………………………………………………………………………… 60
Octree > Compute………………………………………………………………………………………………………………………………….. 61
Octree > Resample…………………………………………………………………………………………………………………………………. 61
Mesh > Delaunay 2.5D (XY plane)…………………………………………………………………………………………………………….. 62
Mesh > Delaunay 2.5D (best fit plane)………………………………………………………………………………………………………. 62
Mesh > Convert texture/material to RGB ………………………………………………………………………………………………….. 63
Mesh > Sample points…………………………………………………………………………………………………………………………….. 63
Mesh > Smooth (Laplacian)……………………………………………………………………………………………………………………… 64
Mesh > Subdivide…………………………………………………………………………………………………………………………………… 64
Mesh > Measure surface…………………………………………………………………………………………………………………………. 65
Mesh > Measure volume ………………………………………………………………………………………………………………………… 65
Mesh > Flag vertices……………………………………………………………………………………………………………………………….. 66
Mesh > Scalar field > Smooth…………………………………………………………………………………………………………………… 66
Mesh > Scalar field > Enhance …………………………………………………………………………………………………………………. 67
Sensors > Edit………………………………………………………………………………………………………………………………………… 67
Sensors > Ground Based Lidar > Create …………………………………………………………………………………………………….. 68
Sensors > Ground Based Lidar > Show Depth Buffer…………………………………………………………………………………… 69
Sensors > Ground Based Lidar > Export Depth Buffer …………………………………………………………………………………. 70
Sensors > Camera Sensor > Create …………………………………………………………………………………………………………… 71
Sensors > Camera Sensor > Project uncertainty …………………………………………………………………………………………. 72
Sensors > Camera Sensor > Compute points visibility (with octree) ……………………………………………………………… 72
Sensors > View from sensor…………………………………………………………………………………………………………………….. 73
Sensors > Compute ranges………………………………………………………………………………………………………………………. 74
Sensors > Compute scattering angles……………………………………………………………………………………………………….. 74
Scalar fields > Show histogram ………………………………………………………………………………………………………………… 75
Scalar fields > Compute statistical parameters…………………………………………………………………………………………… 75
Scalar fields > Gradient …………………………………………………………………………………………………………………………… 76
Scalar fields > Gaussian filter …………………………………………………………………………………………………………………… 77
Scalar fields > Bilateral filter ……………………………………………………………………………………………………………………. 78
Scalar fields > Filter by Value …………………………………………………………………………………………………………………… 78
Scalar fields > Convert to RGB………………………………………………………………………………………………………………….. 78
Scalar fields > Convert to random RGB……………………………………………………………………………………………………… 79
Scalar fields > Rename ……………………………………………………………………………………………………………………………. 79
Scalar fields > Add constant SF ………………………………………………………………………………………………………………… 80
Scalar fields > Add point indexes as SF ……………………………………………………………………………………………………… 80
Scalar fields > Export coordinate(s) to SF(s)……………………………………………………………………………………………….. 81
正常>普通方向>最小生成树…………………………………………………………………………………………………………………. 59
法线>正交法线>快速行进…………………………………………………………………………………………………………………….. 59
“正常”>“转换为”>“HSV”………………………………………………………………………………………………………….. 60
“正常”>“转换为”>“下陷和倾斜方向SF………………………………………………………………………………………… 60
正常>清晰……………………………………………………………………………………………………………………………………………. 60
Octree >计算…………………………………………………………………………………………………………………………………………. 61
Octree >重新采样………………………………………………………………………………………………………………………………….. 61
网格> Delaunay 2.5D (XY平面）…………………………………………………………………………………………………………… 62
网格> Delaunay 2.5D（最佳拟合平面）…………………………………………………………………………………………………. 62
网格>将材质/纹理转换为RGB………………………………………………………………………………………………………………. 63
网格>样本点………………………………………………………………………………………………………………………………………… 63
网格>平滑（拉普拉斯）………………………………………………………………………………………………………………………. 64
网格>细分……………………………………………………………………………………………………………………………………………. 64
网格>测量曲面…………………………………………………………………………………………………………………………………….. 65
网格>测量体积…………………………………………………………………………………………………………………………………….. 65
网格>标志顶点…………………………………………………………………………………………………………………………………….. 66
网格>标量场>光滑……………………………………………………………………………………………………………………………….. 66
网格>标量场>增强……………………………………………………………………………………………………………………………….. 67
传感器>编辑………………………………………………………………………………………………………………………………………… 67
传感器>地面激光雷达>创建…………………………………………………………………………………………………………………..68
传感器>地面激光雷达>显示深度缓冲区………………………………………………………………………………………………… 69
传感器>地面激光雷达>导出深度缓冲区………………………………………………………………………………………………… 70
传感器>摄像头传感器>创建…………………………………………………………………………………………………………………..71
传感器>摄像机传感器>项目不确定度……………………………………………………………………………………………………. 72
传感器>摄像头传感器>计算点可见性（带八叉树）………………………………………………………………………………. 72
传感器>从传感器查看…………………………………………………………………………………………………………………………… 73
传感器>计算范围…………………………………………………………………………………………………………………………………..74
传感器>计算散射角……………………………………………………………………………………………………………………………….74
标量场>显示直方图………………………………………………………………………………………………………………………………. 75
标量场>计算统计参数…………………………………………………………………………………………………………………………… 75
标量场>梯度………………………………………………………………………………………………………………………………………… 76
标量场>高斯滤波器………………………………………………………………………………………………………………………………. 77
标量场>双边滤波器……………………………………………………………………………………………………………………………….78
标量场>按值筛选…………………………………………………………………………………………………………………………………..78
标量场>转换为RGB……………………………………………………………………………………………………………………………… 78
标量场>转换为随机RGB………………………………………………………………………………………………………………………..79
标量场>重命名………………………………………………………………………………………………………………………………………79
标量场>添加常数SF……………………………………………………………………………………………………………………………… 80
标量场>以SF形式添加点索引……………………………………………………………………………………………………………….. 80
标量场>将坐标（秒）导出为SF（秒）…………………………………………………………………………………………………..81
Scalar fields > Set SF as coordinate(s)……………………………………………………………………………………………………….. 81
Scalar fields > Arithmetic ………………………………………………………………………………………………………………………… 82
Scalar fields > Color Scales Manager…………………………………………………………………………………………………………. 83
Scalar fields > Delete………………………………………………………………………………………………………………………………. 85
Scalar fields > Delete all (!)………………………………………………………………………………………………………………………. 85
Tools menu ………………………………………………………………………………………………………………………………………………. 86
Level…………………………………………………………………………………………………………………………………………………….. 86
Point picking………………………………………………………………………………………………………………………………………….. 87
Point list picking …………………………………………………………………………………………………………………………………….. 89
Clean > Noise filter…………………………………………………………………………………………………………………………………. 90
Projection > Unroll …………………………………………………………………………………………………………………………………. 92
Projection > Rasterize …………………………………………………………………………………………………………………………….. 93
Projection > Contour plot to mesh …………………………………………………………………………………………………………… 98
Projection > Export coordinate(s) to SF(s) …………………………………………………………………………………………………. 99
Registration > Match bounding-box centers ……………………………………………………………………………………………… 99
Registration > Match scales……………………………………………………………………………………………………………………100
Registration > Align (point pairs picking) ………………………………………………………………………………………………….101
Registration > Fine registration (ICP) ……………………………………………………………………………………………………….104
Distances > Cloud/Cloud dist. (cloud-to-cloud distance)…………………………………………………………………………….106
Distances > Cloud/Mesh dist. (cloud-to-mesh distance) …………………………………………………………………………….110
Distances > Closest Point Set ………………………………………………………………………………………………………………….112
Statistics > Local Statistical Test………………………………………………………………………………………………………………113
Statistics > Compute Stat. Params…………………………………………………………………………………………………………..116
Segmentation > Label Connected Components…………………………………………………………………………………………117
Segmentation > Cross Section ………………………………………………………………………………………………………………..118
Segmentation > Extract Sections …………………………………………………………………………………………………………….122
Fit > Plane…………………………………………………………………………………………………………………………………………….127
Fit > Sphere ………………………………………………………………………………………………………………………………………….128
Fit > 2D Polygon ……………………………………………………………………………………………………………………………………129
Fit > Quadric…………………………………………………………………………………………………………………………………………130
Other > Density …………………………………………………………………………………………………………………………………….131
Other > Curvature …………………………………………………………………………………………………………………………………132
Other > Roughness………………………………………………………………………………………………………………………………..133
Other > Remove duplicate points……………………………………………………………………………………………………………133
Display menu …………………………………………………………………………………………………………………………………………..135
Full screen ……………………………………………………………………………………………………………………………………………135
Refresh………………………………………………………………………………………………………………………………………………..135
Toggle Centered Perspective ………………………………………………………………………………………………………………….135
Toggle Viewer Based Perspective ……………………………………………………………………………………………………………135
Lock rotation about vert. axis…………………………………………………………………………………………………………………135
标量场>将SF设为坐标(s)………………………………………………………………………………………………………………………. 81
标量场>算术………………………………………………………………………………………………………………………………………… 82
标量场>颜色比例尺管理器……………………………………………………………………………………………………………………. 83
标量场>删除………………………………………………………………………………………………………………………………………… 85
标量场>删除所有（！）……………………………………………………………………………………………………………………….. 85
工具菜单………………………………………………………………………………………………………………………………………………….. 86
级别…………………………………………………………………………………………………………………………………………………….. 86
点选…………………………………………………………………………………………………………………………………………………….. 87
单点选择……………………………………………………………………………………………………………………………………………… 89
清洁＞噪声过滤器………………………………………………………………………………………………………………………………… 90
投影>展开……………………………………………………………………………………………………………………………………………. 92
投影>网格化………………………………………………………………………………………………………………………………………… 93
投影>等高线图到网格………………………………………………………………………………………………………………………….. 98
投影＞将坐标（秒）转换为SF（秒）…………………………………………………………………………………………………….99
注册>匹配边界框中心………………………………………………………………………………………………………………………….. 99
注册>对比尺………………………………………………………………………………………………………………………………………. 100
注册>对齐（点对选择）………………………………………………………………………………………………………………………101
注册>精准登记（ICP）………………………………………………………………………………………………………………………. 104
距离>云/云间距（云到云距离）…………………………………………………………………………………………………………..106
距离＞云/Mesh距离（cloud-to-mesh distance）…………………………………………………………………………………….. 110
距离>最近点集…………………………………………………………………………………………………………………………………….112
统计>本地统计检验…………………………………………………………………………………………………………………………….. 113
统计>计算统计参数……………………………………………………………………………………………………………………………..116
分割>标签连接组件…………………………………………………………………………………………………………………………….. 117
分段>横截面………………………………………………………………………………………………………………………………………..118
分割>提取切片…………………………………………………………………………………………………………………………………….122
平面>椭圆………………………………………………………………………………………………………………………………………….. 127
Fit >球体…………………………………………………………………………………………………………………………………………….. 128
Fit > 2D多边形……………………………………………………………………………………………………………………………………. 129
Fit >二次方…………………………………………………………………………………………………………………………………………. 130
其他＞密度…………………………………………………………………………………………………………………………………………. 131
其他>曲率……………………………………………………………………………………………………………………………………………132
其他＞粗糙度……………………………………………………………………………………………………………………………………… 133
其他>删除重复点…………………………………………………………………………………………………………………………………133
显示菜单…………………………………………………………………………………………………………………………………………………135
全屏…………………………………………………………………………………………………………………………………………………….135
刷新…………………………………………………………………………………………………………………………………………………….135
切换居中视角……………………………………………………………………………………………………………………………………… 135
切换查看器视图………………………………………………………………………………………………………………………………….. 135
锁定绕垂直轴旋转………………………………………………………………………………………………………………………………. 135
Enter bubble-view mode………………………………………………………………………………………………………………………..136
Render to File……………………………………………………………………………………………………………………………………….137
Display settings…………………………………………………………………………………………………………………………………….138
Camera settings ……………………………………………………………………………………………………………………………………141
Save viewport as object …………………………………………………………………………………………………………………………142
Adjust zoom …………………………………………………………………………………………………………………………………………142
Test Frame Rate ……………………………………………………………………………………………………………………………………143
Lights > Toggle Sun Light………………………………………………………………………………………………………………………..143
Lights > Toggle Custom Light ………………………………………………………………………………………………………………….143
Shaders and Filters > Remove filter …………………………………………………………………………………………………………144
Active scalar field > Toggle color scale……………………………………………………………………………………………………..144
Active scalar field > Show previous SF ……………………………………………………………………………………………………..144
Active scalar field > Show next SF ……………………………………………………………………………………………………………145
Console ……………………………………………………………………………………………………………………………………………….145
Toolbars ………………………………………………………………………………………………………………………………………………145
Reset all GUI elements…………………………………………………………………………………………………………………………..146
3D Views menu ………………………………………………………………………………………………………………………………………..147
New…………………………………………………………………………………………………………………………………………………….147
Close……………………………………………………………………………………………………………………………………………………147
Close All……………………………………………………………………………………………………………………………………………….147
Tile………………………………………………………………………………………………………………………………………………………147
Cascade ……………………………………………………………………………………………………………………………………………….147
Next…………………………………………………………………………………………………………………………………………………….147
Previous ………………………………………………………………………………………………………………………………………………147
Help menu……………………………………………………………………………………………………………………………………………….148
Help…………………………………………………………………………………………………………………………………………………….148
About…………………………………………………………………………………………………………………………………………………..148
About Plugins… …………………………………………………………………………………………………………………………………….148
Toolbars and icons……………………………………………………………………………………………………………………………………….149
Main toolbar ……………………………………………………………………………………………………………………………………………149
Scalar fields toolbar ………………………………………………………………………………………………………………………………….149
OpenGL filters (shaders) toolbar…………………………………………………………………………………………………………………149
Standard plugins toolbar……………………………………………………………………………………………………………………………149
3D view toolbar………………………………………………………………………………………………………………………………………..149
Plugins………………………………………………………………………………………………………………………………………………………..150
Standard plugins ………………………………………………………………………………………………………………………………………150
qHPR (Hidden Point Removal) ………………………………………………………………………………………………………………..150
qKinect (Point Cloud Acquisition with a Kinect)…………………………………………………………………………………………151
qPCL (Point Cloud Library Wrapper) ………………………………………………………………………………………………………..151
qPCV (ShadeVis / Ambient Occlusion) ……………………………………………………………………………………………………..152
进入鸟瞰视图模式……………………………………………………………………………………………………………………………….136
渲染到文件………………………………………………………………………………………………………………………………………….137
显示设置……………………………………………………………………………………………………………………………………………..138
相机设置……………………………………………………………………………………………………………………………………………..141
将视口另存为对象………………………………………………………………………………………………………………………………. 142
调整缩放…………………………………………………………………………………………………………………………………………….. 142
测试帧速率…………………………………………………………………………………………………………………………………………. 143
灯光>切换日光…………………………………………………………………………………………………………………………………… 143
灯光>切换自定义灯光………………………………………………………………………………………………………………………….143
着色器和过滤器>移除过滤器………………………………………………………………………………………………………………. 144
活动标量场>切换颜色标度………………………………………………………………………………………………………………….. 144
活动标量场>显示前一个SF…………………………………………………………………………………………………………………. 144
活动标量场>显示下一个SF…………………………………………………………………………………………………………………..145
控制台…………………………………………………………………………………………………………………………………………………145
工具栏………………………………………………………………………………………………………………………………………………… 145
重置所有GUI元素………………………………………………………………………………………………………………………………..146
三维视图菜单…………………………………………………………………………………………………………………………………………. 147
新的…………………………………………………………………………………………………………………………………………………… 147
关闭…………………………………………………………………………………………………………………………………………………….147
关闭所有文件……………………………………………………………………………………………………………………………………… 147
瓷砖…………………………………………………………………………………………………………………………………………………….147
级………………………………………………………………………………………………………………………………………………………..147
下一个的……………………………………………………………………………………………………………………………………………..147
上一档…………………………………………………………………………………………………………………………………………………147
帮助菜单…………………………………………………………………………………………………………………………………………………148
帮助…………………………………………………………………………………………………………………………………………………… 148
关于………………………………………………………………………………………………………………………………………………….. 148
关于插件… ……………………………………………………………………………………………………………………………………. . 148
工具栏和图标…………………………………………………………………………………………………………………………………………….. 149
主工具栏…………………………………………………………………………………………………………………………………………………149
标量场工具栏…………………………………………………………………………………………………………………………………………. 149
OpenGL着色器（滤镜）工具栏………………………………………………………………………………………………………………. 149
标准插件工具栏……………………………………………………………………………………………………………………………………… 149
三维视图工具栏……………………………………………………………………………………………………………………………………… 149
插件………………………………………………………………………………………………………………………………………………………….. 150
标准插件…………………………………………………………………………………………………………………………………………………150
qHPR（隐藏点移除）…………………………………………………………………………………………………………………………. 150
qKinect（使用Kinect进行点云采集）…………………………………………………………………………………………………… 151
qPCL（点云库包装器）……………………………………………………………………………………………………………………….151
qPCV (ShadeVis /环境遮挡）………………………………………………………………………………………………………………..152
qPoissonRecon (Poisson Surface Reconstruction)……………………………………………………………………………………..153
qRansacSD (RANSAC Shape Detection)…………………………………………………………………………………………………….156
qSRA (Surface of Revolution Analysis) ……………………………………………………………………………………………………..158
qCANUPO (Point Cloud Classification) ……………………………………………………………………………………………………..160
qM3C2 (Robust C2C Distances Computation)……………………………………………………………………………………………165
qCork (Boolean Operations on Meshes)…………………………………………………………………………………………………..168
OpenGL ‘shaders’ plugins…………………………………………………………………………………………………………………………..169
qEDL (Eye Dome Lighting)………………………………………………………………………………………………………………………169
qSSAO (Screen Space Ambient Occlusion)………………………………………………………………………………………………..170
Appendix …………………………………………………………………………………………………………………………………………………….171
Command line mode…………………………………………………………………………………………………………………………………171
Example 1…………………………………………………………………………………………………………………………………………….176
Example 2…………………………………………………………………………………………………………………………………………….176
Cloud-to-cloud distance…………………………………………………………………………………………………………………………177
Cloud-to-mesh distance…………………………………………………………………………………………………………………………177
Bundler import……………………………………………………………………………………………………………………………………..177
(Mesh) format conversion ……………………………………………………………………………………………………………………..177
Shortcuts…………………………………………………………………………………………………………………………………………………177
CloudCompare octree……………………………………………………………………………………………………………………………….178
Structure ……………………………………………………………………………………………………………………………………………..179
Computing the octree……………………………………………………………………………………………………………………………179
Displaying the octree …………………………………………………………………………………………………………………………….180
AirPhotoSE ………………………………………………………………………………………………………………………………………………180
Generating orhtophotos………………………………………………………………………………………………………………………..180
qPoissonRecon（泊松表面重建）………………………………………………………………………………………………………….153
qRansacSD (RANSAC形状检测）………………………………………………………………………………………………………… 156
qSRA（旋转曲面分析）……………………………………………………………………………………………………………………… 158
qCANUPO（点云分类）………………………………………………………………………………………………………………………160
qM3C2（稳健的C2C距离计算）…………………………………………………………………………………………………………..165
qCork（网格上的布尔运算）………………………………………………………………………………………………………………. 168
OpenGL“着色器”插件…………………………………………………………………………………………………………………………. 169
qEDL（眼罩照明）…………………………………………………………………………………………………………………………….. 169
qSSAO（屏幕空间环境遮挡）…………………………………………………………………………………………………………….. 170
附件……………………………………………………………………………………………………………………………………………………………171
命令行模式…………………………………………………………………………………………………………………………………………….. 171
示例1…………………………………………………………………………………………………………………………………………………. 176
示例2…………………………………………………………………………………………………………………………………………………. 176
云到云距离………………………………………………………………………………………………………………………………………….177
云到网格距离……………………………………………………………………………………………………………………………………… 177
联邦进口……………………………………………………………………………………………………………………………………………..177
（Mesh）格式转换……………………………………………………………………………………………………………………………… 177
快捷方式…………………………………………………………………………………………………………………………………………………177
CloudCompare八叉树……………………………………………………………………………………………………………………………….178
结构…………………………………………………………………………………………………………………………………………………….179
计算八叉树…………………………………………………………………………………………………………………………………………. 179
显示八叉树………………………………………………………………………………………………………………………………………….180
航拍摄影SE……………………………………………………………………………………………………………………………………………. 180
生成正射影像……………………………………………………………………………………………………………………………………… 180