shen/Happy-Reconstruction
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sovle the ploblem bothers me so long

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This commit is contained in:
Tang1705
2020-05-25 17:14:04 +08:00
parent 5faeff5be1
commit 0bea55c67d
12 changed files with 100121 additions and 110 deletions
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1
Classes/Loading.cpp
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@@ -5,6 +5,7 @@ Loading::Loading(QWidget *parent)
{
setStyle();
this->setWindowIcon(QIcon(":/icon/image/common/icon.png"));
setWindowFlags(Qt::FramelessWindowHint);
ui.label_2->hide();
// ui.progressBar->setValue(0);

189
Classes/Reconstruction.cpp
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@@ -2,6 +2,44 @@
#include "MyThread.h"
#include "YourThread.h"
// 点云框选回调函数
void pp_callback(const visualization::AreaPickingEvent& event, void* args)
{
auto pclData = PointCloudData::getInstance();
PointCloud<PointXYZRGB>::Ptr cloudPtr(new PointCloud<PointXYZRGB>);
cloudPtr = pclData->getCloud().makeShared();
auto num = pclData->getNum();
std::vector<int> indices;
if (event.getPointsIndices(indices) == -1)
return;
// cout << indices.size() << "\n";
PointCloud<PointXYZRGB>::Ptr clicked_points_3d(new PointCloud<PointXYZRGB>);
if (indices.size() > 0)
{
for (auto i = 0; i < indices.size(); ++i)
{
clicked_points_3d->points.push_back(cloudPtr->points.at(indices[i]));
}
visualization::PointCloudColorHandlerCustom<PointXYZRGB> red(clicked_points_3d, 255, 0, 0);
std::stringstream ss;
std::string cloudName;
pclData->setNum();
ss << num++;
ss >> cloudName;
cloudName += "_cloudName";
pclData->getViewer()->addPointCloud(clicked_points_3d, red, cloudName);
pclData->getViewer()->
setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 10, cloudName);
// pclData->getViewer()->updatePointCloud(clicked_points_3d,"cloudName");
pclData->setIndices(indices);
pclData->getUI().qvtkWidget->SetRenderWindow(pclData->getViewer()->getRenderWindow());
pclData->getUI().qvtkWidget->update();
}
}
Reconstruction::Reconstruction(QWidget* parent)
: QMainWindow(parent)
{
@@ -23,15 +61,6 @@ Reconstruction::Reconstruction(QWidget* parent)
#pragma region Style
void Reconstruction::setStyle()
{
boost::shared_ptr<visualization::PCLVisualizer> viewer(new visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0.458, 0.529, 0.844);
viewer->initCameraParameters();
auto pclData = PointCloudData::getInstance(cloud);
pclData->setViewer(viewer);
pclData->setUI(ui);
ui.qvtkWidget->SetRenderWindow(viewer->getRenderWindow());
ui.qvtkWidget->update();
this->setContentsMargins(0, 0, 0, 0);
// this->setFixedSize(1240, 680);
// ui.centralWidget->setGeometry(0, 40, 1240, 680);
@@ -114,7 +143,7 @@ void Reconstruction::setButtonStyle()
ui.pushButton_14->setIcon(QIcon(":/icon/image/reconstruction/export.png"));
ui.pushButton_15->setIcon(QIcon(":/icon/image/reconstruction/surface.png"));
ui.pushButton_16->setIcon(QIcon(":/icon/image/reconstruction/color.png"));
ui.pushButton_18->setIcon(QIcon(":/icon/image/reconstruction/help2.png"));
ui.pushButton_18->setIcon(QIcon(":/icon/image/reconstruction/help2.png"));
}
#pragma endregion
@@ -154,53 +183,18 @@ void Reconstruction::on_pushButton_3_clicked()
#pragma endregion
#pragma region 多线程
// 点云框选回调函数
void pp_callback(const visualization::AreaPickingEvent& event, void* args)
{
auto pclData = PointCloudData::getInstance();
PointCloud<PointXYZRGB>::Ptr cloudPtr(new PointCloud<PointXYZRGB>);
cloudPtr = pclData->getCloud().makeShared();
auto num = pclData->getNum();
std::vector<int> indices;
if (event.getPointsIndices(indices) == -1)
return;
// cout << indices.size() << "\n";
PointCloud<PointXYZRGB>::Ptr clicked_points_3d(new PointCloud<PointXYZRGB>);
if(indices.size()>0){
for (auto i = 0; i < indices.size(); ++i)
{
clicked_points_3d->points.push_back(cloudPtr->points.at(indices[i]));
}
visualization::PointCloudColorHandlerCustom<PointXYZRGB> red(clicked_points_3d, 255, 0, 0);
std::stringstream ss;
std::string cloudName;
pclData->setNum();
ss << num++;
ss >> cloudName;
cloudName += "_cloudName";
pclData->getViewer()->addPointCloud(clicked_points_3d, red, cloudName);
pclData->getViewer()->
setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 10, cloudName);
// pclData->getViewer()->updatePointCloud(clicked_points_3d,"cloudName");
pclData->setIndices(indices);
pclData->getUI().qvtkWidget->SetRenderWindow(pclData->getViewer()->getRenderWindow());
pclData->getUI().qvtkWidget->update();
}
}
void Reconstruction::setCloud()
{
ui.label_9->setVisible(false);
if(possionStatus)
if (possionStatus)
{
auto pclData = PointCloudData::getInstance(cloud);
pclData->getViewer()->removeAllPointClouds();
pclData->getViewer()->addPolygonMesh(mesh, "my");
possionStatus = false;
}else
}
else
{
if (loadingStatus)
{
@@ -226,22 +220,31 @@ void Reconstruction::updateQVTK(PointCloud<PointXYZRGB> cloud, QColor color)
{
auto pclData = PointCloudData::getInstance();
pclData->setCloud(cloud);
pclData->getViewer()->getCameraParameters(camera);
cout << camera.pos[0] << "," << camera.pos[1] << "," << camera.pos[2] << "," << camera.
view[0] <<
"," << camera.view[1] << "," << camera.view[2] << "\n";
viewer = pclData->getViewer();
// disable the window appear outside
viewer.reset(new visualization::PCLVisualizer("3D Viewer", false));
viewer->setBackgroundColor(0.458, 0.529, 0.844);
if (cloud.size() != 0)
{
pclData->getViewer()->getInteractorStyle()->getCameraParameters(camera);
if(location)
{
viewer->setCameraParameters(camera);
}else
{
location = true;
}
}
viewer->registerAreaPickingCallback(pp_callback, (void*)&cloud);
pclData->setViewer(viewer);
}
else
{
boost::shared_ptr<visualization::PCLVisualizer> viewerArg(new visualization::PCLVisualizer("3D Viewer"));
viewer = viewerArg;
viewer.reset(new visualization::PCLVisualizer("3D Viewer", false));
viewer->setBackgroundColor(0.458, 0.529, 0.844);
viewer->initCameraParameters();
viewer->getCameraParameters(camera);
cout << camera.pos[0] << "," << camera.pos[1] << "," << camera.pos[2] << "," << camera.
view[0] <<"," << camera.view[1] << "," << camera.view[2] << "\n";
// viewer->setCameraPosition(50, -50, 1500,50,-50,1490,0, 1, 0, 0);
viewer->registerAreaPickingCallback(pp_callback, (void*)&cloud);
auto pclData = PointCloudData::getInstance(cloud);
pclData->setViewer(viewer);
pclData->setUI(ui);
@@ -249,7 +252,6 @@ void Reconstruction::updateQVTK(PointCloud<PointXYZRGB> cloud, QColor color)
double size = 1;
viewer->getPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, size, "cloud");
viewer->removeAllPointClouds();
// viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
if (cloud.size() != 0)
{
PointCloud<PointXYZRGB>::Ptr cloudPtr(new PointCloud<PointXYZRGB>);
@@ -260,10 +262,14 @@ void Reconstruction::updateQVTK(PointCloud<PointXYZRGB> cloud, QColor color)
visualization::PointCloudColorHandlerCustom<PointXYZRGB> cloud_color(cloudPtr, x, y, z); // 统一处理点云颜色
viewer->addPointCloud(cloudPtr, cloud_color, "cloud");
viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, size, "cloud");
// viewer->setCameraPosition(camera.pos[0], camera.pos[1], camera.pos[2], camera.view[0], camera.view[1], camera.view[2],0,0,1);
viewer->registerAreaPickingCallback(pp_callback, (void*)&cloud);
}
ui.qvtkWidget->SetRenderWindow(viewer->getRenderWindow());
// add control
viewer->setupInteractor(ui.qvtkWidget->GetInteractor(), ui.qvtkWidget->GetRenderWindow());
viewer->getInteractorStyle()->setKeyboardModifier(visualization::INTERACTOR_KB_MOD_SHIFT);
ui.qvtkWidget->update();
}
#pragma endregion
@@ -283,10 +289,7 @@ void Reconstruction::on_pushButton_5_clicked()
mesg.warning(this, "WARNING", "Failed to open picture");
return;
}
else
{
calPath = fileName;
}
calPath = fileName;
}
// 相机拍摄
@@ -629,11 +632,6 @@ void Reconstruction::on_pushButton_9_clicked()
auto pixmap = QPixmap::fromImage(qimage);
ui.label_21->setPixmap(pixmap.scaled(w, h, Qt::KeepAspectRatio));
// picPath = "Resources/image/test.png"; // 该行仅做测试使用
// DisplayPic* picDlg = new DisplayPic();
// picDlg->setPicPath(picPath);
// connect(picDlg, SIGNAL(getPicAction(QString)), this, SLOT(setPicAction(QString)));
// picDlg->show();
}
void Reconstruction::setPicAction(QString action)
@@ -653,7 +651,6 @@ void Reconstruction::setPicAction(QString action)
// 保存照片
void Reconstruction::on_pushButton_10_clicked()
{
// todo 保存照片
if (confirmPic)
{
QString fileName = QFileDialog::getSaveFileName(this,
@@ -666,20 +663,6 @@ void Reconstruction::on_pushButton_10_clicked()
QScreen* screen = QGuiApplication::primaryScreen();
screen->grabWindow(ui.label_21->winId()).save(fileName);
// QImage iim(picPath); //创建一个图片对象,存储源图片
// QPainter painter(&iim); //设置绘画设备
// QFile file(fileName); //创建一个文件对象，存储用户选择的文件
// if (!file.open(QIODevice::ReadWrite))
// {
// return;
// }
// QByteArray ba;
// QBuffer buffer(&ba);
// buffer.open(QIODevice::WriteOnly);
// iim.save(&buffer, "JPG"); //把图片以流方式写入文件缓存流中
// file.write(ba); //将流中的图片写入文件对象当中
}
}
else
@@ -692,7 +675,8 @@ void Reconstruction::on_pushButton_10_clicked()
// 开始重建
void Reconstruction::on_pushButton_17_clicked()
{
// todo 开始重建
cloud.clear();
location = false;
reconstructStatus = true;
on_pushButton_3_clicked();
ui.label_9->setVisible(true);
@@ -707,23 +691,18 @@ void Reconstruction::on_pushButton_17_clicked()
// 异常点选择
void Reconstruction::on_pushButton_11_clicked()
{
QMessageBox::information(this, tr("QMessageBox::information()"),
"Please press the 'X' in the keyboard to choose the outlier points!");
QMessageBox::information(this, tr("QMessageBox::information()"),
"Please press the 'X' in the keyboard to choose the outlier points!");
}
// 异常点剔除
void Reconstruction::on_pushButton_12_clicked()
{
// todo 异常点剔除
auto pclData = PointCloudData::getInstance();
// cloud = pclData->getCloud();
auto indices = pclData->getIndices();
for (auto i = 0; i < indices.size(); ++i)
{
// cout << "i:" << i << " indices:" << indices[i] << " diff:" << indices[i]-i << "\n";
auto index = cloud.begin() + (indices[i] - i);
// cout << "size:" << cloudPtr->size() << ",index:" << indices[i] - i<<"\n" ;
if (indices[i] - i >= cloud.size())break;
cloud.erase(index);
}
@@ -731,7 +710,6 @@ void Reconstruction::on_pushButton_12_clicked()
pclData->setIndices(indices);
pclData->setCloud(cloud);
updateQVTK(cloud, color);
// pclData->getViewer()->updatePointCloud();
}
// 导入点云
@@ -755,14 +733,8 @@ void Reconstruction::on_pushButton_13_clicked()
return;
}
boost::shared_ptr<visualization::PCLVisualizer> viewer(new visualization::PCLVisualizer("3D Viewer"));
viewer->setBackgroundColor(0.458, 0.529, 0.844);
viewer->initCameraParameters();
// viewer->setCameraPosition(0, -10, -25, 0, 1, 0, 0, 1, 0, 0);
// viewer->setPosition(0, 0);
ui.qvtkWidget->SetRenderWindow(viewer->getRenderWindow());
auto pclData = PointCloudData::getInstance(cloud);
pclData->setViewer(viewer);
cloud.clear();
location = false;
ui.label_9->setVisible(true);
QCoreApplication::processEvents();
t->setPcd(fileName);
@@ -773,17 +745,16 @@ void Reconstruction::on_pushButton_13_clicked()
// 导出结果
void Reconstruction::on_pushButton_14_clicked()
{
QString fileName=QFileDialog::getSaveFileName(this, tr("Save to file"),
"./", tr("PCD files(*.pcd);;PLY files(*.ply);;All files (*.*)"));
QString fileName = QFileDialog::getSaveFileName(this, tr("Save to file"),
"./", tr("PCD files(*.pcd);;PLY files(*.ply);;All files (*.*)"));
if (!fileName.isNull())
{
if (fileName.endsWith(".pcd", Qt::CaseInsensitive))
io::savePCDFileBinary(fileName.toStdString(), cloud);
else if (fileName.endsWith(".ply", Qt::CaseInsensitive))
io::savePLYFileBinary(fileName.toStdString(), cloud);
io::savePLYFileBinary(fileName.toStdString(), cloud);
}
}
// 泊松曲面重建
@@ -813,4 +784,4 @@ void Reconstruction::on_pushButton_18_clicked()
help->show();
}
#pragma endregion
#pragma endregion

10
Classes/Reconstruction.h
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@@ -37,8 +37,17 @@
#include "Device.h"
#include "HisThread.h"
#include "CoreAlgorithm.h"
#include "QVTKWidget.h"
#include "vtkRenderWindow.h"
#include "Help.h"
#include <iostream>
#include<vtkAutoInit.h>
VTK_MODULE_INIT(vtkRenderingOpenGL2)
VTK_MODULE_INIT(vtkInteractionStyle);
VTK_MODULE_INIT(vtkRenderingFreeType);
using namespace pcl;
using namespace std;
@@ -85,6 +94,7 @@ private:
PolygonMesh mesh;
bool loadingStatus = false; // 点云渲染
bool possionStatus = false;
bool location = false; // indicate the first time to load point cloud to optimize location
void setStyle();
void setPicStyle();
void setButtonStyle();

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2
Reconstruction.rc
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@@ -54,7 +54,7 @@ END
// remains consistent on all systems.
IDI_ICON1 ICON "icon1.ico"
IDI_ICON2 ICON "D:\\BJTU\\Reconstruction\\Resources\\image\\common\\icon.ico"
IDI_ICON2 ICON "icon1.ico"
#endif // 中文(简体，中国) resources
/////////////////////////////////////////////////////////////////////////////

1
Resources/Reconstruction.qrc
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@@ -24,6 +24,7 @@
<file>image/reconstruction/surface.png</file>
<file>image/reconstruction/help2.png</file>
<file>image/common/icon.png</file>
<file>icon1.ico</file>
</qresource>
<qresource prefix="/qss">
<file>qss/flat.qss</file>

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17
resource1.h Normal file
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@@ -0,0 +1,17 @@
//{{NO_DEPENDENCIES}}
// Microsoft Visual C++ 生成的包含文件。
// 供 Reconstruction.rc 使用
//
#define IDI_ICON1 101
#define IDI_ICON2 102
// Next default values for new objects
//
#ifdef APSTUDIO_INVOKED
#ifndef APSTUDIO_READONLY_SYMBOLS
#define _APS_NEXT_RESOURCE_VALUE 104
#define _APS_NEXT_COMMAND_VALUE 40001
#define _APS_NEXT_CONTROL_VALUE 1001
#define _APS_NEXT_SYMED_VALUE 101
#endif
#endif