shen/Happy-Reconstruction
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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

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This commit is contained in:
ZESl
2020-04-19 21:59:33 +08:00
parent 9bca2d1482
commit 6226f3f909
9 changed files with 356 additions and 156 deletions
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76
Classes/Reconstruction.cpp
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@@ -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);
}
}