ui 0.10 增加多线程读入pcd文件处理，提示用户等待加载，qvtk部分代码重构，ui修改

2020-04-19 21:59:33 +08:00
parent 9bca2d1482
commit 6226f3f909
9 changed files with 356 additions and 156 deletions
--- a/Classes/MyThread.cpp
+++ b/Classes/MyThread.cpp
@@ -0,0 +1,30 @@
+#include "MyThread.h"
+
+MyThread::MyThread()
+{
+
+}
+
+void MyThread::run()
+{
+	if(!pcd.empty())
+	{
+		PointCloud<PointXYZRGB>::Ptr cloudPtr(new PointCloud<PointXYZRGB>);
+		io::loadPCDFile(pcd, *cloudPtr);
+		cloud = *cloudPtr;
+	}
+}
+
+void MyThread::setPcd(QString str)
+{
+	pcd = str.toStdString();
+}
+
+PointCloud<PointXYZRGB> MyThread::getCloud()
+{
+	return cloud;
+}
+
+MyThread::~MyThread()
+{
+}
--- a/Classes/MyThread.h
+++ b/Classes/MyThread.h
@@ -0,0 +1,25 @@
+#pragma once
+
+#include <qthread.h>
+#include <pcl/point_types.h>
+#include <pcl/io/vtk_lib_io.h>
+using namespace std;
+using namespace pcl;
+
+class MyThread :
+	public QThread
+{
+public:
+	MyThread();
+	~MyThread();
+	void setPcd(QString str);
+	PointCloud<PointXYZRGB> getCloud();
+
+private:
+	string pcd;
+	PointCloud<PointXYZRGB> cloud;
+
+protected:
+	void run();
+};
+
--- a/Classes/Reconstruction.cpp
+++ b/Classes/Reconstruction.cpp
@@ -3,10 +3,14 @@
 Reconstruction::Reconstruction(QWidget *parent)
 	: QMainWindow(parent)
 {
-	ui.setupUi(this);	
+	ui.setupUi(this);
+	t = new MyThread;
+	connect(t, SIGNAL(finished()), this, SLOT(setCloud()));
+
 	setStyle();
 }

+#pragma region Style
 void Reconstruction::setStyle()
 {
 	this->setContentsMargins(0, 0, 0, 0);
@@ -23,14 +27,21 @@ void Reconstruction::setStyle()
 	file.close();

 	QPalette palette1;
-	palette1.setColor(QPalette::Background, qRgba(44, 46, 70, 100));
+	palette1.setColor(QPalette::Background, qRgba(62, 71, 128, 100));	//左侧
 	ui.widget->setPalette(palette1);
+
+	QPalette palette2;
+	palette2.setColor(QPalette::Background, qRgba(255, 255, 255, 100));	//白色
+	// palette2.setColor(QPalette::Background, qRgba(204, 213, 240, 100));	//背景
+	ui.stackedWidget->setPalette(palette2);
+
 	ui.stackedWidget->setCurrentIndex(0);
 	setPicStyle();
 	setButtonStyle();
 }
 void Reconstruction::setPicStyle()
 {
+	ui.label_9->setPixmap(QPixmap(":/icon/image/reconstruction/loading.png"));
 	ui.label_11->setPixmap(QPixmap(":/icon/image/calibration/novideo.png"));
 	ui.label_21->setPixmap(QPixmap(":/icon/image/projection/novideo.jpg"));
 }
@@ -62,7 +73,7 @@ void Reconstruction::setButtonStyle()
 	ui.pushButton_15->setIcon(QIcon(":/icon/image/reconstruction/save2.png"));
 	ui.pushButton_16->setIcon(QIcon(":/icon/image/reconstruction/color.png"));
 }
-
+#pragma endregion 

 #pragma region 界面菜单
 void Reconstruction::on_pushButton_clicked()
@@ -78,11 +89,31 @@ void Reconstruction::on_pushButton_2_clicked()
 void Reconstruction::on_pushButton_3_clicked()
 {
 	ui.stackedWidget->setCurrentIndex(2);
-	ui.label_9->setVisible(FALSE);
+	updateQVTK(cloud);
+	if(loadingStatus)
+	{
+		ui.label_9->setVisible(true);
+	}else
+	{
+		ui.label_9->setVisible(false);
+	}
+}
+#pragma endregion 
+
+#pragma region 多线程
+void Reconstruction::setCloud()
+{
+	ui.label_9->setVisible(false);
+	loadingStatus = false;
+	cloud = t->getCloud();
+	updateQVTK(cloud);
+}
+void Reconstruction::updateQVTK(PointCloud<PointXYZRGB> cloud)
+{
 	boost::shared_ptr<visualization::PCLVisualizer> viewer(new visualization::PCLVisualizer("3D Viewer"));
-	viewer->setBackgroundColor(0, 0, 0);
+	viewer->setBackgroundColor(0.458, 0.529, 0.844);
 	viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
-	if(cloud.size()!=0)
+	if (cloud.size() != 0)
 	{
 		PointCloud<PointXYZRGB>::Ptr cloudPtr(new PointCloud<PointXYZRGB>);
 		cloudPtr = cloud.makeShared();
@@ -270,12 +301,17 @@ void Reconstruction::on_pushButton_12_clicked()
 // 导入点云
 void Reconstruction::on_pushButton_13_clicked()
 {
-	
+	if(loadingStatus)
+	{
+		QMessageBox mesg;
+		mesg.warning(this, "WARNING", "正在加载… ");
+		return;
+	}
+
 	QString fileName = QFileDialog::getOpenFileName(
-		this, tr("open multiple image file"),
-		"./", tr("PCD files(*.pcd);;All files (*.*)"));		// todo 文件类型待确认
-	ui.label_9->setVisible(TRUE);
-	
+	this, tr("open multiple image file"),
+	"./", tr("PCD files(*.pcd);;All files (*.*)"));		// todo 文件类型待确认
+
 	if (fileName.isEmpty())
 	{
 		QMessageBox mesg;
@@ -283,17 +319,11 @@ void Reconstruction::on_pushButton_13_clicked()
 		return;
 	}

-	string pcd = fileName.toStdString();
-	PointCloud<PointXYZRGB>::Ptr cloudPtr(new PointCloud<PointXYZRGB>);
-	io::loadPCDFile(pcd, *cloudPtr);
-	cloud = *cloudPtr;
-	boost::shared_ptr<visualization::PCLVisualizer> viewer(new visualization::PCLVisualizer("3D Viewer"));
-	viewer->setBackgroundColor(0, 0, 0);
-	viewer->addPointCloud(cloudPtr, "cloud");
-	viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
-	ui.qvtkWidget->SetRenderWindow(viewer->getRenderWindow());
-	ui.label_9->setVisible(FALSE);
-	ui.qvtkWidget->update();
+	ui.label_9->setVisible(true);
+	QCoreApplication::processEvents();
+	t->setPcd(fileName);
+	t->start();
+	loadingStatus = true;

 	// todo 存储文件或文件路径
 }
@@ -315,7 +345,7 @@ void Reconstruction::on_pushButton_15_clicked()
 	if (!fileName.isNull())
 	{
 		// 截图所选的控件暂时用 label_17 替代
-		QPixmap pix = QPixmap::grabWidget(ui.label_17);
+		QPixmap pix = QPixmap::grabWidget(ui.qvtkWidget);
 		pix.save(fileName);
 	}
 }
--- a/Classes/Reconstruction.h
+++ b/Classes/Reconstruction.h
@@ -15,6 +15,7 @@
 #include <pcl/io/vtk_lib_io.h>
 #include <vtkRenderWindow.h>
 #include <QProgressDialog>
+#include "MyThread.h"
 using namespace pcl;
 using namespace std;

@@ -27,14 +28,19 @@ public:

 private:
 	Ui::ReconstructionClass ui;
-	QString calPath;	// 相机标定：标定图像的存储路径
-	QString picPath = "Result/result.png";	// 图案投影：拍摄照片的存储路径
+	QString calPath;	// 系统标定：标定图像的存储路径
+	QString picPath = "Result/result.png";	// 三维重建：拍摄照片的存储路径
 	PointCloud<PointXYZRGB> cloud;
-	bool confirmPic = false;	// 图案投影：确定是否用所拍照片进行重建
-	QColor color = Qt::black;	// 三维重建：颜色
+	bool confirmPic = false;	// 三维重建：确定是否用所拍照片进行重建
+	QColor color = Qt::black;	// 点云渲染：颜色
+
+	// 多线程
+	MyThread* t;
+	bool loadingStatus = false;		// 点云渲染
 	void setStyle();
 	void setPicStyle();
 	void setButtonStyle();
+	void updateQVTK(PointCloud<PointXYZRGB> cloud);

 private slots:
 	void on_pushButton_clicked();
@@ -55,4 +61,5 @@ private slots:
 	void on_pushButton_16_clicked();
 	void on_pushButton_17_clicked();
 	void setPicAction(QString action);
+	void setCloud();
 };
--- a/Resources/Reconstruction.qrc
+++ b/Resources/Reconstruction.qrc
@@ -19,6 +19,7 @@
        <file>image/projection/novideo.jpg</file>
        <file>image/loading/label.png</file>
        <file>image/loading/press.png</file>
+        <file>image/reconstruction/loading.png</file>
    </qresource>
    <qresource prefix="/qss">
        <file>qss/flat.qss</file>
--- a/Resources/image/calibration/novideo.png
+++ b/Resources/image/calibration/novideo.png
--- a/Resources/image/reconstruction/loading.png
+++ b/Resources/image/reconstruction/loading.png
--- a/Resources/qss/flat.qss
+++ b/Resources/qss/flat.qss
@@ -2,14 +2,14 @@
 /*QPushButton*/
 QPushButton {
    color: #000000;
-    background-color: white;
+    background-color: #e5ebfb;
    border: 0px solid rgba(255, 255, 255, 0);
    font-size: 16px;
    border-radius: 5px;
 }

 QPushButton:hover {
-    background-color: #cceeff;
+    background-color: #ccd5f0;
 }

 QPushButton:pressed {
@@ -18,8 +18,8 @@ QPushButton:pressed {
    fx: 0.5,
    fy: 0.5,
    radius: 1.5,
-    stop: 0.2 #4fc1e9,
-    stop: 0.8 #3bafda);
+    stop: 0.2 #abb6d7,
+    stop: 0.8 #abb6d7);
 }

 /*MediumGray*/
--- a/UI/Reconstruction.ui
+++ b/UI/Reconstruction.ui
@@ -56,10 +56,10 @@
   <widget class="QStackedWidget" name="stackedWidget">
    <property name="geometry">
     <rect>
-      <x>249</x>
-      <y>6</y>
-      <width>981</width>
-      <height>641</height>
+      <x>239</x>
+      <y>-4</y>
+      <width>1001</width>
+      <height>651</height>
     </rect>
    </property>
    <property name="autoFillBackground">
@@ -75,8 +75,8 @@
     <widget class="QLabel" name="label_2">
      <property name="geometry">
       <rect>
-        <x>300</x>
-        <y>10</y>
+        <x>310</x>
+        <y>20</y>
        <width>81</width>
        <height>16</height>
       </rect>
@@ -96,9 +96,9 @@
     <widget class="QGroupBox" name="groupBox">
      <property name="geometry">
       <rect>
-        <x>670</x>
+        <x>690</x>
        <y>430</y>
-        <width>301</width>
+        <width>291</width>
        <height>201</height>
       </rect>
      </property>
@@ -303,8 +303,8 @@
     <widget class="QGroupBox" name="groupBox_2">
      <property name="geometry">
       <rect>
-        <x>670</x>
-        <y>20</y>
+        <x>690</x>
+        <y>30</y>
        <width>291</width>
        <height>151</height>
       </rect>
@@ -411,8 +411,8 @@
     <widget class="QGroupBox" name="groupBox_5">
      <property name="geometry">
       <rect>
-        <x>10</x>
-        <y>30</y>
+        <x>30</x>
+        <y>40</y>
        <width>640</width>
        <height>512</height>
       </rect>
@@ -461,15 +461,21 @@
     <widget class="QPushButton" name="pushButton_5">
      <property name="geometry">
       <rect>
-        <x>70</x>
+        <x>50</x>
        <y>580</y>
-        <width>100</width>
-        <height>28</height>
+        <width>120</width>
+        <height>51</height>
       </rect>
      </property>
+      <property name="minimumSize">
+       <size>
+        <width>120</width>
+        <height>0</height>
+       </size>
+      </property>
      <property name="maximumSize">
       <size>
-        <width>100</width>
+        <width>110</width>
        <height>16777215</height>
       </size>
      </property>
@@ -488,13 +494,19 @@
       <rect>
        <x>210</x>
        <y>580</y>
-        <width>100</width>
-        <height>28</height>
+        <width>120</width>
+        <height>51</height>
       </rect>
      </property>
+      <property name="minimumSize">
+       <size>
+        <width>120</width>
+        <height>0</height>
+       </size>
+      </property>
      <property name="maximumSize">
       <size>
-        <width>100</width>
+        <width>110</width>
        <height>16777215</height>
       </size>
      </property>
@@ -511,15 +523,21 @@
     <widget class="QPushButton" name="pushButton_7">
      <property name="geometry">
       <rect>
-        <x>350</x>
+        <x>370</x>
        <y>580</y>
-        <width>100</width>
-        <height>28</height>
+        <width>120</width>
+        <height>51</height>
       </rect>
      </property>
+      <property name="minimumSize">
+       <size>
+        <width>120</width>
+        <height>0</height>
+       </size>
+      </property>
      <property name="maximumSize">
       <size>
-        <width>100</width>
+        <width>110</width>
        <height>16777215</height>
       </size>
      </property>
@@ -536,15 +554,21 @@
     <widget class="QPushButton" name="pushButton_8">
      <property name="geometry">
       <rect>
-        <x>490</x>
+        <x>530</x>
        <y>580</y>
-        <width>100</width>
-        <height>28</height>
+        <width>120</width>
+        <height>51</height>
       </rect>
      </property>
+      <property name="minimumSize">
+       <size>
+        <width>120</width>
+        <height>0</height>
+       </size>
+      </property>
      <property name="maximumSize">
       <size>
-        <width>100</width>
+        <width>120</width>
        <height>16777215</height>
       </size>
      </property>
@@ -561,9 +585,9 @@
     <widget class="QGroupBox" name="groupBox_3">
      <property name="geometry">
       <rect>
-        <x>670</x>
-        <y>190</y>
-        <width>301</width>
+        <x>690</x>
+        <y>200</y>
+        <width>291</width>
        <height>211</height>
       </rect>
      </property>
@@ -584,7 +608,7 @@
        <rect>
         <x>10</x>
         <y>20</y>
-         <width>281</width>
+         <width>271</width>
         <height>181</height>
        </rect>
       </property>
@@ -600,8 +624,8 @@
     <widget class="QLabel" name="label_3">
      <property name="geometry">
       <rect>
-        <x>370</x>
-        <y>20</y>
+        <x>310</x>
+        <y>30</y>
        <width>81</width>
        <height>16</height>
       </rect>
@@ -621,8 +645,8 @@
     <widget class="QGroupBox" name="groupBox_6">
      <property name="geometry">
       <rect>
-        <x>90</x>
-        <y>50</y>
+        <x>30</x>
+        <y>60</y>
        <width>640</width>
        <height>512</height>
       </rect>
@@ -665,51 +689,21 @@
      <zorder>graphicsView_2</zorder>
      <zorder>label_21</zorder>
     </widget>
-     <widget class="QPushButton" name="pushButton_9">
-      <property name="geometry">
-       <rect>
-        <x>810</x>
-        <y>190</y>
-        <width>93</width>
-        <height>31</height>
-       </rect>
-      </property>
-      <property name="font">
-       <font>
-        <family>黑体</family>
-       </font>
-      </property>
-      <property name="text">
-       <string>相机拍照</string>
-      </property>
-     </widget>
-     <widget class="QPushButton" name="pushButton_10">
-      <property name="geometry">
-       <rect>
-        <x>810</x>
-        <y>290</y>
-        <width>93</width>
-        <height>31</height>
-       </rect>
-      </property>
-      <property name="font">
-       <font>
-        <family>黑体</family>
-       </font>
-      </property>
-      <property name="text">
-       <string>保存照片</string>
-      </property>
-     </widget>
     <widget class="QPushButton" name="pushButton_4">
      <property name="geometry">
       <rect>
-        <x>620</x>
-        <y>580</y>
-        <width>111</width>
-        <height>31</height>
+        <x>550</x>
+        <y>590</y>
+        <width>120</width>
+        <height>41</height>
       </rect>
      </property>
+      <property name="minimumSize">
+       <size>
+        <width>120</width>
+        <height>0</height>
+       </size>
+      </property>
      <property name="font">
       <font>
        <family>黑体</family>
@@ -722,26 +716,32 @@
     <widget class="QLineEdit" name="lineEdit">
      <property name="geometry">
       <rect>
-        <x>240</x>
-        <y>580</y>
-        <width>331</width>
-        <height>31</height>
+        <x>150</x>
+        <y>590</y>
+        <width>381</width>
+        <height>41</height>
       </rect>
      </property>
     </widget>
     <widget class="QLabel" name="label_18">
      <property name="geometry">
       <rect>
-        <x>90</x>
-        <y>580</y>
+        <x>30</x>
+        <y>590</y>
        <width>111</width>
-        <height>30</height>
+        <height>40</height>
       </rect>
      </property>
+      <property name="minimumSize">
+       <size>
+        <width>0</width>
+        <height>40</height>
+       </size>
+      </property>
      <property name="maximumSize">
       <size>
        <width>16777215</width>
-        <height>30</height>
+        <height>40</height>
       </size>
      </property>
      <property name="font">
@@ -757,32 +757,152 @@
       <set>Qt::AlignCenter</set>
      </property>
     </widget>
-     <widget class="QPushButton" name="pushButton_17">
+     <widget class="QGroupBox" name="groupBox_7">
      <property name="geometry">
       <rect>
-        <x>810</x>
-        <y>390</y>
-        <width>93</width>
-        <height>31</height>
+        <x>700</x>
+        <y>50</y>
+        <width>281</width>
+        <height>311</height>
       </rect>
      </property>
      <property name="font">
       <font>
        <family>黑体</family>
+        <pointsize>10</pointsize>
       </font>
      </property>
-      <property name="text">
-       <string>开始重建</string>
+      <property name="title">
+       <string>重建日志</string>
      </property>
+      <property name="alignment">
+       <set>Qt::AlignCenter</set>
+      </property>
+      <widget class="QTextBrowser" name="textBrowser_8">
+       <property name="geometry">
+        <rect>
+         <x>10</x>
+         <y>20</y>
+         <width>261</width>
+         <height>281</height>
+        </rect>
+       </property>
+       <property name="font">
+        <font>
+         <pointsize>9</pointsize>
+        </font>
+       </property>
+      </widget>
     </widget>
+     <widget class="QGroupBox" name="groupBox_8">
+      <property name="geometry">
+       <rect>
+        <x>710</x>
+        <y>380</y>
+        <width>261</width>
+        <height>251</height>
+       </rect>
+      </property>
+      <property name="font">
+       <font>
+        <family>黑体</family>
+        <pointsize>10</pointsize>
+       </font>
+      </property>
+      <property name="title">
+       <string/>
+      </property>
+      <property name="alignment">
+       <set>Qt::AlignCenter</set>
+      </property>
+      <widget class="QPushButton" name="pushButton_9">
+       <property name="geometry">
+        <rect>
+         <x>70</x>
+         <y>20</y>
+         <width>120</width>
+         <height>51</height>
+        </rect>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>120</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <family>黑体</family>
+        </font>
+       </property>
+       <property name="text">
+        <string>相机拍照</string>
+       </property>
+      </widget>
+      <widget class="QPushButton" name="pushButton_10">
+       <property name="geometry">
+        <rect>
+         <x>70</x>
+         <y>100</y>
+         <width>120</width>
+         <height>51</height>
+        </rect>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>120</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <family>黑体</family>
+        </font>
+       </property>
+       <property name="text">
+        <string>保存照片</string>
+       </property>
+      </widget>
+      <widget class="QPushButton" name="pushButton_17">
+       <property name="geometry">
+        <rect>
+         <x>70</x>
+         <y>180</y>
+         <width>120</width>
+         <height>51</height>
+        </rect>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>120</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <family>黑体</family>
+        </font>
+       </property>
+       <property name="text">
+        <string>开始重建</string>
+       </property>
+      </widget>
+     </widget>
+     <zorder>groupBox_8</zorder>
+     <zorder>label_3</zorder>
+     <zorder>groupBox_6</zorder>
+     <zorder>pushButton_4</zorder>
+     <zorder>lineEdit</zorder>
+     <zorder>label_18</zorder>
+     <zorder>groupBox_7</zorder>
    </widget>
    <widget class="QWidget" name="page_3">
     <widget class="QGroupBox" name="groupBox_4">
      <property name="geometry">
       <rect>
-        <x>780</x>
+        <x>800</x>
        <y>70</y>
-        <width>191</width>
+        <width>181</width>
        <height>191</height>
       </rect>
      </property>
@@ -895,10 +1015,10 @@
     <widget class="QPushButton" name="pushButton_13">
      <property name="geometry">
       <rect>
-        <x>800</x>
+        <x>820</x>
        <y>330</y>
-        <width>131</width>
-        <height>28</height>
+        <width>141</width>
+        <height>41</height>
       </rect>
      </property>
      <property name="font">
@@ -913,10 +1033,10 @@
     <widget class="QPushButton" name="pushButton_14">
      <property name="geometry">
       <rect>
-        <x>800</x>
-        <y>400</y>
-        <width>131</width>
-        <height>28</height>
+        <x>820</x>
+        <y>410</y>
+        <width>141</width>
+        <height>41</height>
       </rect>
      </property>
      <property name="font">
@@ -931,10 +1051,10 @@
     <widget class="QPushButton" name="pushButton_15">
      <property name="geometry">
       <rect>
-        <x>800</x>
-        <y>470</y>
-        <width>131</width>
-        <height>28</height>
+        <x>820</x>
+        <y>490</y>
+        <width>141</width>
+        <height>41</height>
       </rect>
      </property>
      <property name="font">
@@ -946,24 +1066,11 @@
       <string>保存截图</string>
      </property>
     </widget>
-     <widget class="QLabel" name="label_17">
-      <property name="geometry">
-       <rect>
-        <x>280</x>
-        <y>260</y>
-        <width>72</width>
-        <height>15</height>
-       </rect>
-      </property>
-      <property name="text">
-       <string/>
-      </property>
-     </widget>
     <widget class="QVTKWidget" name="qvtkWidget">
      <property name="geometry">
       <rect>
-        <x>10</x>
-        <y>10</y>
+        <x>30</x>
+        <y>20</y>
        <width>741</width>
        <height>621</height>
       </rect>
@@ -972,23 +1079,23 @@
     <widget class="QLabel" name="label_9">
      <property name="geometry">
       <rect>
-        <x>310</x>
-        <y>310</y>
-        <width>131</width>
-        <height>51</height>
+        <x>30</x>
+        <y>20</y>
+        <width>741</width>
+        <height>611</height>
       </rect>
      </property>
      <property name="font">
       <font>
        <family>黑体</family>
-        <pointsize>11</pointsize>
+        <pointsize>18</pointsize>
       </font>
      </property>
      <property name="styleSheet">
-       <string notr="true">color: rgb(255, 255, 255);</string>
+       <string notr="true"/>
      </property>
      <property name="text">
-       <string>Loading...</string>
+       <string/>
      </property>
     </widget>
    </widget>