shen/Happy-Reconstruction
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fix that problem a liitle

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This commit is contained in:
Tang1705
2020-05-24 10:04:41 +08:00
parent dab2be5de2
commit 5c923ee2d4
8 changed files with 14 additions and 6 deletions
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20
Classes/Reconstruction.cpp
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@@ -174,7 +174,6 @@ void pp_callback(const visualization::AreaPickingEvent& event, void* args)
void Reconstruction::setCloud()
{
cout << cloud.width;
ui.label_9->setVisible(false);
if (loadingStatus)
@@ -201,7 +200,7 @@ void Reconstruction::updateQVTK(PointCloud<PointXYZRGB> cloud, QColor color)
auto pclData = PointCloudData::getInstance();
pclData->setCloud(cloud);
pclData->getViewer()->getCameraParameters(camera);
cout << cloud.size() << "," << camera.pos[0] << "," << camera.pos[1] << "," << camera.pos[2] << "," << camera.
cout << camera.pos[0] << "," << camera.pos[1] << "," << camera.pos[2] << "," << camera.
view[0] <<
"," << camera.view[1] << "," << camera.view[2] << "\n";
viewer = pclData->getViewer();
@@ -211,6 +210,11 @@ void Reconstruction::updateQVTK(PointCloud<PointXYZRGB> cloud, QColor color)
boost::shared_ptr<visualization::PCLVisualizer> viewerArg(new visualization::PCLVisualizer("3D Viewer"));
viewer = viewerArg;
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);
auto pclData = PointCloudData::getInstance(cloud);
pclData->setViewer(viewer);
pclData->setUI(ui);
@@ -223,9 +227,9 @@ void Reconstruction::updateQVTK(PointCloud<PointXYZRGB> cloud, QColor color)
{
PointCloud<PointXYZRGB>::Ptr cloudPtr(new PointCloud<PointXYZRGB>);
cloudPtr = cloud.makeShared();
int x = int(color.redF() * 255);
int y = int(color.greenF() * 255);
int z = int(color.blueF() * 255);
auto x = int(color.redF() * 255);
auto y = int(color.greenF() * 255);
auto z = int(color.blueF() * 255);
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");
@@ -707,7 +711,7 @@ void Reconstruction::on_pushButton_13_clicked()
QString fileName = QFileDialog::getOpenFileName(
this, tr("open multiple image file"),
"./", tr("PCD files(*.pcd);;All files (*.*)")); // todo 文件类型待确认
"./", tr("PCD files(*.pcd);PLY files(*.ply);All files (*.*)")); // todo 文件类型待确认
if (fileName.isEmpty())
{
@@ -715,8 +719,12 @@ void Reconstruction::on_pushButton_13_clicked()
mesg.warning(this, "WARNING", "Failed to open file");
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);