v1.0
This commit is contained in:
Tang1705
@@ -1,16 +1,21 @@
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#include "Reconstruction.h"
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#include "MyThread.h"
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#include "YourThread.h"
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Reconstruction::Reconstruction(QWidget* parent)
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: QMainWindow(parent)
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{
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ui.setupUi(this);
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this->setWindowIcon(QIcon(":/icon/image/common/icon.png"));
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calibData = new CalibrationData();
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calibrator = new Calibrator();
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dirModel = new TreeModel(this);
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td = new YourThread(&cloud);
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t = new MyThread;
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htd = new HisThread(&cloud, &mesh);
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connect(td, SIGNAL(finished()), this, SLOT(setCloud()));
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connect(t, SIGNAL(finished()), this, SLOT(setCloud()));
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connect(htd, SIGNAL(finished()), this, SLOT(setCloud()));
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device = Device::getInstance();
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setStyle();
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}
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@@ -18,6 +23,15 @@ Reconstruction::Reconstruction(QWidget* parent)
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#pragma region Style
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void Reconstruction::setStyle()
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{
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boost::shared_ptr<visualization::PCLVisualizer> viewer(new visualization::PCLVisualizer("3D Viewer"));
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viewer->setBackgroundColor(0.458, 0.529, 0.844);
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viewer->initCameraParameters();
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auto pclData = PointCloudData::getInstance(cloud);
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pclData->setViewer(viewer);
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pclData->setUI(ui);
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ui.qvtkWidget->SetRenderWindow(viewer->getRenderWindow());
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ui.qvtkWidget->update();
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this->setContentsMargins(0, 0, 0, 0);
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// this->setFixedSize(1240, 680);
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// ui.centralWidget->setGeometry(0, 40, 1240, 680);
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@@ -67,6 +81,7 @@ void Reconstruction::setPicStyle()
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ui.pushButton_8->setEnabled(false);
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ui.pushButton_9->setEnabled(false);
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ui.pushButton_10->setEnabled(false);
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ui.pushButton_19->setEnabled(false);
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}
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ui.label_21->setPixmap(QPixmap(":/icon/image/projection/novideo.jpg"));
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@@ -97,8 +112,9 @@ void Reconstruction::setButtonStyle()
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// 三维重建界面
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ui.pushButton_13->setIcon(QIcon(":/icon/image/reconstruction/import.png"));
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ui.pushButton_14->setIcon(QIcon(":/icon/image/reconstruction/export.png"));
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ui.pushButton_15->setIcon(QIcon(":/icon/image/reconstruction/save2.png"));
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ui.pushButton_15->setIcon(QIcon(":/icon/image/reconstruction/surface.png"));
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ui.pushButton_16->setIcon(QIcon(":/icon/image/reconstruction/color.png"));
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ui.pushButton_18->setIcon(QIcon(":/icon/image/reconstruction/help2.png"));
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}
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#pragma endregion
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@@ -144,14 +160,15 @@ void pp_callback(const visualization::AreaPickingEvent& event, void* args)
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auto pclData = PointCloudData::getInstance();
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PointCloud<PointXYZRGB>::Ptr cloudPtr(new PointCloud<PointXYZRGB>);
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cloudPtr = pclData->getCloud().makeShared();
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int num = pclData->getNum();
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auto num = pclData->getNum();
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std::vector<int> indices;
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if (event.getPointsIndices(indices) == -1)
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return;
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// cout << indices.size() << "\n";
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PointCloud<PointXYZRGB>::Ptr clicked_points_3d(new PointCloud<PointXYZRGB>);
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for (int i = 0; i < indices.size(); ++i)
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if(indices.size()>0){
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for (auto i = 0; i < indices.size(); ++i)
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{
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clicked_points_3d->points.push_back(cloudPtr->points.at(indices[i]));
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}
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@@ -165,30 +182,40 @@ void pp_callback(const visualization::AreaPickingEvent& event, void* args)
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pclData->getViewer()->addPointCloud(clicked_points_3d, red, cloudName);
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pclData->getViewer()->
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setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 10, cloudName);
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setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 10, cloudName);
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// pclData->getViewer()->updatePointCloud(clicked_points_3d,"cloudName");
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pclData->setIndices(indices);
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pclData->getUI().qvtkWidget->SetRenderWindow(pclData->getViewer()->getRenderWindow());
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pclData->getUI().qvtkWidget->update();
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}
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}
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void Reconstruction::setCloud()
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{
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ui.label_9->setVisible(false);
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if (loadingStatus)
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if(possionStatus)
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{
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cloud = t->getCloud();
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loadingStatus = false;
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}
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if (reconstructStatus)
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auto pclData = PointCloudData::getInstance(cloud);
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pclData->getViewer()->removeAllPointClouds();
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pclData->getViewer()->addPolygonMesh(mesh, "my");
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possionStatus = false;
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}else
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{
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reconstructStatus = false;
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}
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cout << cloud[0].r;
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if (loadingStatus)
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{
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cloud = t->getCloud();
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loadingStatus = false;
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}
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updateQVTK(cloud, color);
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if (reconstructStatus)
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{
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reconstructStatus = false;
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}
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cout << cloud[0].r;
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updateQVTK(cloud, color);
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}
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}
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void Reconstruction::updateQVTK(PointCloud<PointXYZRGB> cloud, QColor color)
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@@ -568,12 +595,18 @@ void Reconstruction::on_pushButton_4_clicked()
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}
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ui.lineEdit->setText(fileName);
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td->setPath(fileName.toStdString());
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// 投影结构光图案
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device->getProjector()->displayPattern(44);
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// device->getProjector()->displayPattern(44);
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// todo 接着进行投影操作
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}
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// 投影图案
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void Reconstruction::on_pushButton_19_clicked()
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{
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device->getProjector()->displayPattern(44);
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}
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// 相机拍照
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void Reconstruction::on_pushButton_9_clicked()
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{
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@@ -674,7 +707,9 @@ void Reconstruction::on_pushButton_17_clicked()
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// 异常点选择
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void Reconstruction::on_pushButton_11_clicked()
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{
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// todo 异常点选择
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QMessageBox::information(this, tr("QMessageBox::information()"),
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"Please press the 'X' in the keyboard to choose the outlier points!");
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}
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// 异常点剔除
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@@ -711,7 +746,7 @@ void Reconstruction::on_pushButton_13_clicked()
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QString fileName = QFileDialog::getOpenFileName(
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this, tr("open multiple image file"),
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"./", tr("PCD files(*.pcd);PLY files(*.ply);All files (*.*)")); // todo 文件类型待确认
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"./", tr("PCD files(*.pcd);;PLY files(*.ply);;All files (*.*)")); // todo 文件类型待确认
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if (fileName.isEmpty())
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{
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@@ -733,36 +768,36 @@ void Reconstruction::on_pushButton_13_clicked()
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t->setPcd(fileName);
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t->start();
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loadingStatus = true;
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// todo 存储文件或文件路径
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}
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// 导出结果
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void Reconstruction::on_pushButton_14_clicked()
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{
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// todo 导出结果
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}
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// 保存截图
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void Reconstruction::on_pushButton_15_clicked()
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{
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QString fileName = QFileDialog::getSaveFileName(this,
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tr("save screen shot"),
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"",
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tr("*.png;; *.jpg;; *.bmp;; All files(*.*)"));
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QString fileName=QFileDialog::getSaveFileName(this, tr("Save to file"),
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"./", tr("PCD files(*.pcd);;PLY files(*.ply);;All files (*.*)"));
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if (!fileName.isNull())
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{
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// 截图所选的控件暂时用 label_17 替代
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QPixmap pix = QPixmap::grabWidget(ui.qvtkWidget);
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pix.save(fileName);
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if (fileName.endsWith(".pcd", Qt::CaseInsensitive))
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io::savePCDFileBinary(fileName.toStdString(), cloud);
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else if (fileName.endsWith(".ply", Qt::CaseInsensitive))
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io::savePLYFileBinary(fileName.toStdString(), cloud);
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}
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}
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// 泊松曲面重建
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void Reconstruction::on_pushButton_15_clicked()
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{
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ui.label_9->setVisible(true);
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QCoreApplication::processEvents();
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htd->start();
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possionStatus = true;
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}
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// 颜色选取
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void Reconstruction::on_pushButton_16_clicked()
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{
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auto pclData = PointCloudData::getInstance(cloud);
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QColor colortmp = QColorDialog::getColor(Qt::black);
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if (colortmp.isValid())
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{
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@@ -777,4 +812,5 @@ void Reconstruction::on_pushButton_18_clicked()
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Help* help = new Help();
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help->show();
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}
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#pragma endregion
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#pragma endregion
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