v1.0

Classes/HisThread.cpp

@@ -0,0 +1,53 @@
+#include "HisThread.h"
+
+HisThread::HisThread(PointCloud<PointXYZRGB>* cloudArg, PolygonMesh* meshArg)
+{
+	mesh = meshArg;
+	cloud = cloudArg;
+}
+
+void HisThread::run()
+{
+	PointCloud<PointXYZRGB>::Ptr finalCloud = cloud->makeShared();
+	NormalEstimation<PointXYZRGB, Normal> n;//法线估计对象
+	PointCloud<Normal>::Ptr normals(new PointCloud<Normal>);//存储估计的法线的指针
+	search::KdTree<PointXYZRGB>::Ptr tree(new search::KdTree<PointXYZRGB>);
+	tree->setInputCloud(finalCloud);
+	n.setInputCloud(finalCloud);
+	n.setSearchMethod(tree);
+	n.setKSearch(20);
+	n.compute(*normals); //计算法线，结果存储在normals中
+
+	//将点云和法线放到一起
+	PointCloud<PointXYZRGBNormal>::Ptr cloud_with_normals(new PointCloud<PointXYZRGBNormal>);
+	concatenateFields(*finalCloud, *normals, *cloud_with_normals);
+
+	//创建搜索树
+	search::KdTree<PointXYZRGBNormal>::Ptr tree2(new search::KdTree<PointXYZRGBNormal>);
+	tree2->setInputCloud(cloud_with_normals);
+	//创建Poisson对象，并设置参数
+	Poisson<PointXYZRGBNormal> pn;
+	pn.setConfidence(true); //是否使用法向量的大小作为置信信息。如果false，所有法向量均归一化。
+	pn.setDegree(2); //设置参数degree[1,5],值越大越精细，耗时越久。
+	pn.setDepth(8); //树的最大深度，求解2^d x 2^d x 2^d立方体元。由于八叉树自适应采样密度，指定值仅为最大深度。
+	pn.setIsoDivide(8); //用于提取ISO等值面的算法的深度
+	pn.setManifold(true); //是否添加多边形的重心，当多边形三角化时。 设置流行标志，如果设置为true，则对多边形进行细分三角话时添加重心，设置false则不添加
+	pn.setManifold(false);
+	pn.setOutputPolygons(false); //是否输出多边形网格（而不是三角化移动立方体的结果）
+	//pn.setSamplesPerNode(3.0); //设置落入一个八叉树结点中的样本点的最小数量。无噪声，[1.0-5.0],有噪声[15.-20.]平滑
+	pn.setSamplesPerNode(18); //设置落入一个八叉树结点中的样本点的最小数量。无噪声，[1.0-5.0],有噪声[15.-20.]平滑
+	pn.setScale(1.25); //设置用于重构的立方体直径和样本边界立方体直径的比率。
+	pn.setSolverDivide(8); //设置求解线性方程组的Gauss-Seidel迭代方法的深度
+	//pn.setIndices();
+
+	//设置搜索方法和输入点云
+	pn.setSearchMethod(tree2);
+	pn.setInputCloud(cloud_with_normals);
+	
+	//执行重构
+	pn.performReconstruction(*mesh);
+	// auto pclData = PointCloudData::getInstance(cloud);
+	// pclData->getViewer()->removeAllPointClouds();
+	// pclData->getViewer()->addPolygonMesh(mesh, "my");
+
+}

Classes/HisThread.h

@@ -0,0 +1,32 @@
+#pragma once
+
+#include <qthread.h>
+#include <pcl/point_types.h>
+#include <pcl/io/vtk_lib_io.h>
+#include <pcl/kdtree/kdtree_flann.h>
+#include <pcl/features/normal_3d_omp.h>
+#include <pcl/features/normal_3d.h>
+#include <pcl/surface/gp3.h>
+#include <pcl/surface/poisson.h>
+#include <pcl/PolygonMesh.h>
+#include <pcl/features/normal_3d.h>  
+#include <pcl/features/normal_3d_omp.h>
+
+using namespace std;
+using namespace pcl;
+
+class HisThread :
+	public QThread
+{
+public:
+	HisThread(PointCloud<PointXYZRGB>* cloud,PolygonMesh* meshArg);
+	~HisThread(){};
+	
+
+private:
+	PolygonMesh* mesh;// 多变形网格，用于存储结果
+	PointCloud<PointXYZRGB>* cloud;
+
+protected:
+	void run();
+};

Classes/MyThread.cpp

@@ -10,7 +10,10 @@ void MyThread::run()
 	if(!pcd.empty())
 	{
 		PointCloud<PointXYZRGB>::Ptr cloudPtr(new PointCloud<PointXYZRGB>);
-		io::loadPCDFile(pcd, *cloudPtr);
+		if (QString::fromStdString(pcd).endsWith(".pcd", Qt::CaseInsensitive))
+			io::loadPCDFile(pcd, *cloudPtr);
+		else if (QString::fromStdString(pcd).endsWith(".ply", Qt::CaseInsensitive))
+			io::loadPLYFile(pcd, *cloudPtr);
 		cloud = *cloudPtr;
 	}
 
@@ -29,7 +32,3 @@ PointCloud<PointXYZRGB> MyThread::getCloud()
 {
 	return cloud;
 }
-
-MyThread::~MyThread()
-{
-}

Classes/MyThread.h

@@ -13,7 +13,7 @@ class MyThread :
 {
 public:
 	MyThread();
-	~MyThread();
+	~MyThread(){};
 	void setPcd(QString str);
 	PointCloud<PointXYZRGB> getCloud();
 

Classes/PointCloudData.h

@@ -3,6 +3,7 @@
 #include <pcl/io/pcd_io.h>
 #include <pcl/visualization/pcl_visualizer.h>
 #include <pcl/io/vtk_lib_io.h>
+#include <QtWidgets/QMainWindow>
 #include "Reconstruction.h"
 
 using namespace pcl;

Classes/Reconstruction.cpp

@@ -1,16 +1,21 @@
 #include "Reconstruction.h"
+#include "MyThread.h"
+#include "YourThread.h"
 
 Reconstruction::Reconstruction(QWidget* parent)
 	: QMainWindow(parent)
 {
 	ui.setupUi(this);
+	this->setWindowIcon(QIcon(":/icon/image/common/icon.png"));
 	calibData = new CalibrationData();
 	calibrator = new Calibrator();
 	dirModel = new TreeModel(this);
 	td = new YourThread(&cloud);
 	t = new MyThread;
+	htd = new HisThread(&cloud, &mesh);
 	connect(td, SIGNAL(finished()), this, SLOT(setCloud()));
 	connect(t, SIGNAL(finished()), this, SLOT(setCloud()));
+	connect(htd, SIGNAL(finished()), this, SLOT(setCloud()));
 	device = Device::getInstance();
 	setStyle();
 }
@@ -18,6 +23,15 @@ 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);
@@ -67,6 +81,7 @@ void Reconstruction::setPicStyle()
 		ui.pushButton_8->setEnabled(false);
 		ui.pushButton_9->setEnabled(false);
 		ui.pushButton_10->setEnabled(false);
+		ui.pushButton_19->setEnabled(false);
 	}
 
 	ui.label_21->setPixmap(QPixmap(":/icon/image/projection/novideo.jpg"));
@@ -97,8 +112,9 @@ void Reconstruction::setButtonStyle()
 	// 三维重建界面
 	ui.pushButton_13->setIcon(QIcon(":/icon/image/reconstruction/import.png"));
 	ui.pushButton_14->setIcon(QIcon(":/icon/image/reconstruction/export.png"));
-	ui.pushButton_15->setIcon(QIcon(":/icon/image/reconstruction/save2.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"));	
 }
 #pragma endregion
 
@@ -144,14 +160,15 @@ void pp_callback(const visualization::AreaPickingEvent& event, void* args)
 	auto pclData = PointCloudData::getInstance();
 	PointCloud<PointXYZRGB>::Ptr cloudPtr(new PointCloud<PointXYZRGB>);
 	cloudPtr = pclData->getCloud().makeShared();
-	int num = pclData->getNum();
+	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>);
-	for (int i = 0; i < indices.size(); ++i)
+	if(indices.size()>0){
+	for (auto i = 0; i < indices.size(); ++i)
 	{
 		clicked_points_3d->points.push_back(cloudPtr->points.at(indices[i]));
 	}
@@ -165,30 +182,40 @@ void pp_callback(const visualization::AreaPickingEvent& event, void* args)
 
 	pclData->getViewer()->addPointCloud(clicked_points_3d, red, cloudName);
 	pclData->getViewer()->
-	         setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 10, cloudName);
+		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 (loadingStatus)
+	if(possionStatus)
 	{
-		cloud = t->getCloud();
-		loadingStatus = false;
-	}
-
-	if (reconstructStatus)
+		auto pclData = PointCloudData::getInstance(cloud);
+		pclData->getViewer()->removeAllPointClouds();
+		pclData->getViewer()->addPolygonMesh(mesh, "my");
+		possionStatus = false;
+	}else
 	{
-		reconstructStatus = false;
-	}
-	cout << cloud[0].r;
+		if (loadingStatus)
+		{
+			cloud = t->getCloud();
+			loadingStatus = false;
+		}
 
-	updateQVTK(cloud, color);
+		if (reconstructStatus)
+		{
+			reconstructStatus = false;
+		}
+		cout << cloud[0].r;
+
+		updateQVTK(cloud, color);
+	}
 }
 
 void Reconstruction::updateQVTK(PointCloud<PointXYZRGB> cloud, QColor color)
@@ -568,12 +595,18 @@ void Reconstruction::on_pushButton_4_clicked()
 	}
 
 	ui.lineEdit->setText(fileName);
-
+	td->setPath(fileName.toStdString());
 	// 投影结构光图案
-	device->getProjector()->displayPattern(44);
+	// device->getProjector()->displayPattern(44);
 	// todo 接着进行投影操作
 }
 
+// 投影图案
+void Reconstruction::on_pushButton_19_clicked()
+{
+	device->getProjector()->displayPattern(44);
+}
+
 // 相机拍照
 void Reconstruction::on_pushButton_9_clicked()
 {
@@ -674,7 +707,9 @@ void Reconstruction::on_pushButton_17_clicked()
 // 异常点选择
 void Reconstruction::on_pushButton_11_clicked()
 {
-	// todo 异常点选择
+	QMessageBox::information(this, tr("QMessageBox::information()"), 
+		"Please press the 'X' in the keyboard to choose the outlier points!");
+	
 }
 
 // 异常点剔除
@@ -711,7 +746,7 @@ void Reconstruction::on_pushButton_13_clicked()
 
 	QString fileName = QFileDialog::getOpenFileName(
 		this, tr("open multiple image file"),
-		"./", tr("PCD files(*.pcd);PLY files(*.ply);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())
 	{
@@ -733,36 +768,36 @@ void Reconstruction::on_pushButton_13_clicked()
 	t->setPcd(fileName);
 	t->start();
 	loadingStatus = true;
-
-	// todo 存储文件或文件路径
 }
 
 // 导出结果
 void Reconstruction::on_pushButton_14_clicked()
 {
-	// todo 导出结果
-}
-
-// 保存截图
-void Reconstruction::on_pushButton_15_clicked()
-{
-	QString fileName = QFileDialog::getSaveFileName(this,
-	                                                tr("save screen shot"),
-	                                                "",
-	                                                tr("*.png;; *.jpg;; *.bmp;; All files(*.*)"));
-
+	QString	fileName=QFileDialog::getSaveFileName(this, tr("Save to file"),
+		"./", tr("PCD files(*.pcd);;PLY files(*.ply);;All files (*.*)"));
+	
 	if (!fileName.isNull())
 	{
-		// 截图所选的控件暂时用 label_17 替代
-		QPixmap pix = QPixmap::grabWidget(ui.qvtkWidget);
-		pix.save(fileName);
+		if (fileName.endsWith(".pcd", Qt::CaseInsensitive))
+			io::savePCDFileBinary(fileName.toStdString(), cloud);
+		else if (fileName.endsWith(".ply", Qt::CaseInsensitive))
+			io::savePLYFileBinary(fileName.toStdString(), cloud);	
 	}
+
+}
+
+// 泊松曲面重建
+void Reconstruction::on_pushButton_15_clicked()
+{
+	ui.label_9->setVisible(true);
+	QCoreApplication::processEvents();
+	htd->start();
+	possionStatus = true;
 }
 
 // 颜色选取
 void Reconstruction::on_pushButton_16_clicked()
 {
-	auto pclData = PointCloudData::getInstance(cloud);
 	QColor colortmp = QColorDialog::getColor(Qt::black);
 	if (colortmp.isValid())
 	{
@@ -777,4 +812,5 @@ void Reconstruction::on_pushButton_18_clicked()
 	Help* help = new Help();
 	help->show();
 }
-#pragma endregion
+
+#pragma endregion

Classes/Reconstruction.h

@@ -13,8 +13,19 @@
 #include "ui_Reconstruction.h"
 #include <pcl/point_types.h>
 #include <pcl/io/pcd_io.h>
+#include <pcl/io/ply_io.h>
+#include <pcl/io/png_io.h>
 #include <pcl/visualization/pcl_visualizer.h>
 #include <pcl/io/vtk_lib_io.h>
+#include <vtkOutputwindow.h>
+#include <pcl\filters\statistical_outlier_removal.h>
+#include <pcl/filters/voxel_grid.h>
+#include <pcl/common/transforms.h>
+#include <vector>
+#include <pcl/io/obj_io.h>
+#include <pcl/PolygonMesh.h>
+#include <pcl/features/normal_3d.h>  
+#include <pcl/features/normal_3d_omp.h>
 #include <vtkRenderWindow.h>
 #include <QProgressDialog>
 #include "Camera.h"
@@ -24,17 +35,19 @@
 #include "Calibrator.h"
 #include "CalibrationData.h"
 #include "Device.h"
+#include "HisThread.h"
 #include "CoreAlgorithm.h"
-#include "MyThread.h"
-#include "YourThread.h"
-#include "PointCloudData.h"
 #include "Help.h"
 #include <iostream>
+
 using namespace pcl;
 using namespace std;
 
 enum Role { ImageFilenameRole = Qt::UserRole, GrayImageRole, ColorImageRole };
 
+class MyThread;
+class YourThread;
+
 class Reconstruction : public QMainWindow
 {
 	Q_OBJECT
@@ -67,8 +80,11 @@ private:
 	bool reconstructStatus = false;		// 点云渲染
 	
 	// 点云多线程
-	MyThread* t;
+	MyThread *t;
+	HisThread* htd;
+	PolygonMesh mesh;
 	bool loadingStatus = false;		// 点云渲染
+	bool possionStatus = false;
 	void setStyle();
 	void setPicStyle();
 	void setButtonStyle();
@@ -93,6 +109,7 @@ private slots:
 	void on_pushButton_16_clicked();
 	void on_pushButton_17_clicked();
 	void on_pushButton_18_clicked();
+	void on_pushButton_19_clicked();
 	void setPicAction(QString action);
 	void setCloud();
 };

Classes/YourThread.cpp

@@ -48,7 +48,7 @@ void YourThread::run()
 			kp.at<float>(i, j) = m3[i][j];
 
 	auto cArg = CameraArguments::getInstance(r, t, kc, kp);
-	CoreAlgorithm testCase = CoreAlgorithm("./Data/image/reconstruction/tq.png", cArg);
+	CoreAlgorithm testCase = CoreAlgorithm(path, cArg);
 	testCase.run();
 	vector<Mat> coordinates=testCase.getCoordinates();
 	cloud->width = coordinates.size();
@@ -66,4 +66,9 @@ void YourThread::run()
 	
 	auto pclData = PointCloudData::getInstance(*cloud);
 	pclData->setCloud(*cloud);
+}
+
+void YourThread::setPath(string pathArg)
+{
+	path = pathArg;
 }

Classes/YourThread.h

@@ -3,7 +3,6 @@
 #include <qthread.h>
 #include <pcl/point_types.h>
 #include <pcl/io/vtk_lib_io.h>
-#include "CoreAlgorithm.h"
 #include "PointCloudData.h"
 
 using namespace std;
@@ -14,10 +13,13 @@ class YourThread :
 {
 public:
 	YourThread(PointCloud<PointXYZRGB> *cloud);
-	~YourThread(){};
+	~YourThread(){}
+	void setPath(string pathArg);
+	
 
 private:
 	PointCloud<PointXYZRGB> *cloud;
+	string path;
 protected:
 	void run();
 };

Classes/main.cpp

@@ -5,8 +5,8 @@
 
 int main(int argc, char *argv[])
 {
-	AllocConsole();//分配控制台
-	freopen("CONOUT$", "w+t", stdout);//向控制台输出
+	// AllocConsole();//分配控制台
+	// freopen("CONOUT$", "w+t", stdout);//向控制台输出
 	QApplication a(argc, argv);
 	Loading l;
 	l.show();