CloudCompare

简介：

CloudCompare is a 3D point cloud (and triangular mesh) processing software. It was originally designed to perform comparison between two 3D points clouds (such as the ones obtained with a laser scanner) or between a point cloud and a triangular mesh. It relies on an octree structure that is highly optimized for this particular use-case. It was also meant to deal with huge point clouds (typically more than 10 million points, and up to 120 million with 2 GB of memory).

CloudCompare是一个3D点云(和三角网mesh)处理软件。它最初设计用来执行对比两个点云或是一个点云和一个三角mesh。它依赖于八叉树结构。它也可以处理大量的点云(通常超过1000万个点以及具有2GB存储器的高达1.2亿个点)。

More on CloudCompare here

参考：https://github.com/CloudCompare/CloudCompare

CloudCompare is a 3D point cloud processing software (such as those obtained with a laser scanner). It can also handle triangular meshes and calibrated images.

CloudCompare是一款3D点云处理软件（例如用激光扫描仪获得的软件）。它还可以处理三角形网格和校准图像。

Originally created during a collaboration between Telecom ParisTech and the R&D division of EDF, the CloudCompare project began in 2003 with the PhD of Daniel Girardeau-Montaut on Change detection on 3D geometric data.[2] At that time, its main purpose was to quickly detect changes in 3D high density point clouds acquired with laser scanners in industrial facilities (such as power plants) or building sites.[3] Afterwards it evolved towards a more general and advanced 3D data processing software. It is now an independent open source project and a free software.

CloudCompare项目最初是在Telecom ParisTech和EDF的研发部门合作期间创建的，始于2003年，Daniel Girardeau Montaut博士研究了3D几何数据的变化检测。[2] 当时，它的主要目的是快速检测工业设施（如发电厂）或建筑工地中用激光扫描仪获取的3D高密度点云的变化。[3] 之后，它向更通用、更先进的3D数据处理软件发展。它现在是一个独立的开源项目和一个免费软件。

CloudCompare provides a set of basic tools for manually editing and rendering 3D points clouds and triangular meshes. It also offers various advanced processing algorithms, among which methods for performing:

CloudCompare提供了一组用于手动编辑和渲染三维点云和三角形网格的基本工具。它还提供了各种先进的处理算法，其中包括执行以下操作的方法：

• projections (axis-based, cylinder or a cone unrolling, ...)投影(圆柱投影等）
• registration (ICP, ...)
• distance computation (cloud-cloud or cloud-mesh the nearest neighbor distance, ...)距离计算
• statistics computation (spatial Chi-squared test, ...)统计计算
• segmentation (connected components labeling, front propagation based, ...)分割
• geometric features estimation (density, curvature, roughness, geological plane orientation, ...)几何特征估计

CloudCompare can handle unlimited scalar fields per point cloud on which various dedicated algorithms can be applied (smoothing, gradient evaluation, statistics, etc.). A dynamic color rendering system helps the user to visualize per-point scalar fields in an efficient way. Therefore, CloudCompare can also be used to visualize N-D data.

CloudCompare可以处理每个点云的无限标量场，可以应用各种专用算法（平滑、梯度评估、统计等）。动态颜色渲染系统可以帮助用户以高效的方式可视化每个点的标量场。因此，CloudCompare还可以用于可视化N-D数据。

The user can interactively segment 3D entities (with a 2D polyline drawn on screen), interactively rotate/translate one or more entities relatively to the others, interactively pick single points or couples of points (to get the corresponding segment length) or triplets of points (to get the corresponding angle and plane normal). The latest version also supports the creation of 2D labels attached to points or rectangular areas annotations.

用户可以交互式地分割3D实体（在屏幕上绘制2D多段线），相对于其他实体交互式地旋转/平移一个或多个实体，交互式地拾取单个点或点对（以获得相应的线段长度）或点的三元组（以获得相应的角度和平面法线）。最新版本还支持创建附着到点或矩形区域标注的二维标签。

CloudCompare is available on Windows, Linux and Mac OS X platforms, for both 32 and 64 bits architectures. It is developed in C++ with Qt.

CloudCompare可在Windows、Linux和Mac OS X平台上使用，适用于32位和64位架构。它是用Qt在C++中开发的。

Input/Output 
CloudCompare supports input/output in the following formats:支持以下输入输出格式：

BIN (CloudCompare own binary format)二进制文件BIN
ASCII cloud (one point per line "X Y Z ...") [wizard]
PLY cloud or mesh [wizard]
OBJ mesh(es)
VTK cloud or mesh
STL mesh
E57 (ASTM E2807 standard[4]) clouds & calibrated images
LAS and LAZ clouds
Point Cloud Library PCD files
FBX mesh
SHP files
OFF mesh (Geomview)
PTX cloud (Leica)
FLS/FWS cloud(s) (Faro)
DP cloud(s) (DotProduct)
RDB / RDBX / RDS cloud(s) (Riegl)
PSZ projects (Photoscan)
Various other polyline formats
Moreover, thanks to a collaboration with Pr. Irwin Scollar (creator of AirPhoto SE, a program for the geometric rectification of aerial images & orthophotos from multiple images), CloudCompare can also import Snavely's Bundler SfM software output file (.out) to generate orthorectified images (directly as image files or as 2D point clouds) and an approximated DTM (based on Bundler key-points) colored with images data.

此外，由于与Irwin Scollar教授（AirPhoto SE的创建者，一个从多个图像中对航空图像和正射图像进行几何校正的程序）的合作，CloudCompare还可以导入Snavely的Bundler SfM软件输出文件（.out），以生成正射校正图像（直接作为图像文件或2D点云）和用图像数据着色的近似DTM（基于Bundler关键点）。

CloudCompare can also import various other formats: Aveva PDMS '.mac' scripts (supported primitives: cylinder, plane, cone, torus, dish, box, snout and profile extrusion), SOI (from old Mensi Soisic scanners), PN, PV, POV, ICM, etc. Eventually, CloudCompare can also export Maya ASCII files (MA).

Plugins
A plugin mechanism enables further extension of CloudCompare capabilities. Two kinds of plugins are available:

插件机制实现了CloudCompare功能的进一步扩展。有两种插件可用：

standard plugins for algorithms coming either from the academic world (ShadeVis,[5] HPR,[6] Poisson reconstruction,[7] boolean operations on meshes,[8] etc.) or from external libraries (PCL) or others (e.g. generation of animations with qAnimation)

算法的标准插件来自学术界（ShadeVis，[5]HPR，[6]泊松重建，[7]网格上的布尔运算，[8]等）或来自外部库（PCL）或其他（例如使用qAnimation生成动画）
OpenGL plugins for advanced shaders (EyeDome Lighting,[9] SSAO, etc.)

用于高级着色器（EyeDome Lighting、[9]SSAO等）的OpenGL插件
See also
Free and open-source software portal
3D scanner
References

参考：https://en.wikipedia.org/wiki/CloudCompare

官网：https://cloudcompare.org/

wiki：https://www.cloudcompare.org/doc/wiki/index.php/Main_Page

该图片来自：https://zhuanlan.zhihu.com/p/355630429，会不会是因为XYZ属性是默认的，不属于可选的属性？所以CloudCompare没有让选择加载与否。。？

Shift/Scale(偏移/缩放)会被存储起来，然后在输出时用来恢复原始坐标。

 

>>DEM转点云，点云处理完后，再输出DEM。