diff --git a/Classes/Loading.cpp b/Classes/Loading.cpp index cfb0595..bba7466 100644 --- a/Classes/Loading.cpp +++ b/Classes/Loading.cpp @@ -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); diff --git a/Classes/Reconstruction.cpp b/Classes/Reconstruction.cpp index a8f5065..be8e470 100644 --- a/Classes/Reconstruction.cpp +++ b/Classes/Reconstruction.cpp @@ -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::Ptr cloudPtr(new PointCloud); + cloudPtr = pclData->getCloud().makeShared(); + auto num = pclData->getNum(); + std::vector indices; + + if (event.getPointsIndices(indices) == -1) + return; + // cout << indices.size() << "\n"; + PointCloud::Ptr clicked_points_3d(new PointCloud); + 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 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 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::Ptr cloudPtr(new PointCloud); - cloudPtr = pclData->getCloud().makeShared(); - auto num = pclData->getNum(); - std::vector indices; - - if (event.getPointsIndices(indices) == -1) - return; - // cout << indices.size() << "\n"; - PointCloud::Ptr clicked_points_3d(new PointCloud); - 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 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 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 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 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::Ptr cloudPtr(new PointCloud); @@ -260,10 +262,14 @@ void Reconstruction::updateQVTK(PointCloud cloud, QColor color) visualization::PointCloudColorHandlerCustom 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 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 \ No newline at end of file +#pragma endregion diff --git a/Classes/Reconstruction.h b/Classes/Reconstruction.h index 9a09044..e38dbbc 100644 --- a/Classes/Reconstruction.h +++ b/Classes/Reconstruction.h @@ -37,8 +37,17 @@ #include "Device.h" #include "HisThread.h" #include "CoreAlgorithm.h" +#include "QVTKWidget.h" +#include "vtkRenderWindow.h" #include "Help.h" #include +#include + +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(); diff --git a/Data/result/pcloud-dense.ply b/Data/result/pcloud-dense.ply new file mode 100644 index 0000000..dcf55be Binary files /dev/null and b/Data/result/pcloud-dense.ply differ diff --git a/Data/result/pcloud.ply b/Data/result/pcloud.ply new file mode 100644 index 0000000..7fc3040 Binary files /dev/null and b/Data/result/pcloud.ply differ diff --git a/Data/result/rail-dense.ply b/Data/result/rail-dense.ply new file mode 100644 index 0000000..1777d84 Binary files /dev/null and b/Data/result/rail-dense.ply differ diff --git a/Data/result/rail.ply b/Data/result/rail.ply new file mode 100644 index 0000000..f7fbf3c Binary files /dev/null and b/Data/result/rail.ply differ diff --git a/Data/result/wheel.pcd b/Data/result/wheel.pcd new file mode 100644 index 0000000..c98644b --- /dev/null +++ b/Data/result/wheel.pcd @@ -0,0 +1,100011 @@ +# .PCD v0.7 - Point Cloud Data file format +VERSION 0.7 +FIELDS x y z +SIZE 4 4 4 +TYPE F F F +COUNT 1 1 1 +WIDTH 100000 +HEIGHT 1 +VIEWPOINT 0 0 0 1 0 0 0 +POINTS 100000 +DATA ascii +32.251484 30 72.260567 +70.28907 43.5 46.101387 +64.362732 31.111399 119.1153 +110.82104 43.5 80.710289 +96.740616 43.5 106.97054 +45.55127 30 46.814293 +108.12415 29.999998 105.27566 +54.78463 38.747974 116.09309 +39.288113 30 63.589725 +51.691608 43.5 54.163441 +85.419456 30 104.90249 +48.148338 30.841581 111.56734 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31.554264 79.50663 +87.793045 43.909401 86.135971 +43.866207 43.5 54.47459 +96.57476 30 70.132721 +57.271812 30 113.24419 +63.54707 44.171299 63.043327 +104.28817 43.5 98.913536 +75.449646 49.679729 61.336498 +29.838127 36.162895 68.140068 +53.874245 30 36.301884 +53.484917 30 75.417976 +46.843285 43.5 47.120167 +118.91599 38.117825 62.243408 +38.856346 30 74.602997 +89.747765 30 78.610382 +48.780952 43.5 52.673328 +63.669312 43.5 45.851124 +56.325569 43.5 94.640755 +51.94001 43.5 37.494926 +63.61594 52.337471 79.444672 +62.815666 30 83.957085 +88.7407 43.5 53.962276 +67.426552 38.543457 70.639923 +88.55368 30 69.962097 +60.930305 30 112.50143 +91.955902 43.5 95.311966 +116.9449 34.703102 92.846924 +70.147469 36.370029 120.42588 +40.663635 36.646317 44.847977 +52.087326 30 82.874107 +83.565514 46.068161 72.671967 +50.983402 30 63.380089 +90.857422 43.5 90.205093 +98.162979 43.5 92.20813 +78.147415 30 103.85379 +115.28829 31.18491 95.890518 +90.081909 36.574867 31.866753 +51.089592 43.5 61.685715 +55.921249 30 82.847496 +96.177284 30 107.58227 +113.01588 31.366421 50.198822 +47.217281 33.628067 111.04375 +62.561241 42.602947 28.20878 +98.911232 43.5 42.929955 +92.225479 36.858959 32.664608 +82.217583 38.061615 70.082184 +121.92615 40.642624 71.7966 +54.149773 38.016136 34.30267 +117.50056 41.769085 51.729931 +91.019867 43.853447 80.830765 +92.523834 43.5 56.229301 +65.304672 30 40.337944 +31.932621 37.419102 90.316757 +101.50359 43.5 100.72668 +114.97981 30 62.313766 +32.469086 38.034737 91.802849 +104.94757 30 95.946594 +59.809868 30 75.209991 +86.972404 30 94.567337 +28.884054 42.978203 88.925285 +122.50365 41.560661 84.173073 +45.29483 35.376736 109.65422 +66.277 37.700291 75.165901 +54.564194 38.17836 34.085869 +73.612396 52.337471 85.010544 +102.31622 43.5 52.137035 +78.306671 40.608833 121.80598 +93.655121 43.5 88.118271 +53.655983 30 96.093346 +115.96648 43.276756 50.515949 +32.030342 38.866226 90.870132 +51.262535 30 95.322601 +84.913956 43.5 99.10434 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79.456932 +112.02992 43.5 69.987221 +90.359467 43.5 46.761395 +73.48378 51.140106 61.808899 +33.635075 42.341835 49.696991 +113.54986 43.5 94.79599 +55.428093 43.5 45.698204 +103.85003 30 71.655724 +95.654808 43.5 94.452576 diff --git a/Reconstruction.rc b/Reconstruction.rc index 4044e76..d4bb636 100644 --- a/Reconstruction.rc +++ b/Reconstruction.rc @@ -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 ///////////////////////////////////////////////////////////////////////////// diff --git a/Resources/Reconstruction.qrc b/Resources/Reconstruction.qrc index 53522ca..c46958c 100644 --- a/Resources/Reconstruction.qrc +++ b/Resources/Reconstruction.qrc @@ -24,6 +24,7 @@ image/reconstruction/surface.png image/reconstruction/help2.png image/common/icon.png + icon1.ico qss/flat.qss diff --git a/Resources/icon1.ico b/Resources/icon1.ico new file mode 100644 index 0000000..72be3d3 Binary files /dev/null and b/Resources/icon1.ico differ diff --git a/resource1.h b/resource1.h new file mode 100644 index 0000000..ca5f0c0 --- /dev/null +++ b/resource1.h @@ -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