move reconstruct progress to thread

Classes/CoreAlgorithm.cpp

@@ -510,3 +510,8 @@ void CoreAlgorithm::saveCoordinate()
 	}
 	destFile.close();
 }
+
+vector<Mat> CoreAlgorithm::getCoordinates()
+{
+	return coordinate;
+}

Classes/CoreAlgorithm.h

@@ -53,4 +53,6 @@ public:
     void run();
 
     void saveCoordinate();
+
+    vector<Mat> getCoordinates();
 };

Classes/Reconstruction.cpp

@@ -7,7 +7,9 @@ Reconstruction::Reconstruction(QWidget* parent)
 	calibData = new CalibrationData();
 	calibrator = new Calibrator();
 	dirModel = new TreeModel(this);
+	td = new YourThread(&cloud);
 	t = new MyThread;
+	connect(td, SIGNAL(finished()), this, SLOT(setCloud()));
 	connect(t, SIGNAL(finished()), this, SLOT(setCloud()));
 	device = Device::getInstance();
 	setStyle();
@@ -118,7 +120,7 @@ void Reconstruction::on_pushButton_3_clicked()
 {
 	ui.stackedWidget->setCurrentIndex(2);
 	updateQVTK(cloud, color);
-	if (loadingStatus)
+	if (loadingStatus || reconstructStatus)
 	{
 		ui.label_9->setVisible(true);
 	}
@@ -132,9 +134,21 @@ void Reconstruction::on_pushButton_3_clicked()
 #pragma region 多线程
 void Reconstruction::setCloud()
 {
+	cout << cloud.width;
 	ui.label_9->setVisible(false);
-	loadingStatus = false;
-	cloud = t->getCloud();
+	
+	if(loadingStatus)
+	{
+		cloud = t->getCloud();
+		loadingStatus = false;
+	}
+
+	if(reconstructStatus)
+	{
+		reconstructStatus = false;
+	}
+	cout << cloud[0].r;
+	
 	updateQVTK(cloud, color);
 }
 
@@ -207,7 +221,7 @@ void Reconstruction::on_pushButton_6_clicked()
 		// Aquire frame
 		auto frame = device->getCamera()->getFrame();
 		auto frameCV = cvtools::camFrame2Mat(frame);
-		cvtColor(frameCV, frameCV, cv::COLOR_BGR2GRAY);
+		cvtColor(frameCV, frameCV, COLOR_BGR2GRAY);
 		//parameter
 		std::cout << cv::format("./config/calib/calib%.2d/%.2d.bmp", imgCount, i) << std::endl;
 		imwrite(cv::format("./config/calib/calib%.2d/%.2d.bmp", imgCount, i), frameCV);
@@ -377,7 +391,7 @@ void Reconstruction::setDirModel(const QString& dirname)
 			continue;
 		}
 
-		//        add the childrens
+		// add the childrens
 		auto parent = dirModel->index(row, 0);
 		dirModel->setData(parent, item, Qt::DisplayRole);
 
@@ -550,49 +564,11 @@ void Reconstruction::on_pushButton_10_clicked()
 void Reconstruction::on_pushButton_17_clicked()
 {
 	// todo 开始重建
-	// auto cArg = CameraArguments::getInstance();
-	Mat r(3, 3, CV_32F);
-	double m0[3][3] = {
-		{9.7004457782050868e-001, 1.3447278830863673e-002, 2.4255450466457243e-001},
-		{-8.7082927494022376e-003, 9.9974988338843274e-001, -2.0599424802792338e-002},
-		{-2.4277084396282392e-001, 1.7870124701864658e-002, 9.6991905639837694e-001}
-	};
-	for (auto i = 0; i < r.rows; i++)
-		for (auto j = 0; j < r.cols; j++)
-			r.at<float>(i, j) = m0[i][j];
-
-	Mat t(1, 3, CV_32F);
-	double m1[1][3] = {
-		{-1.9511179496234658e+002, 1.2627509817628756e+001, -5.9345885017522171e+001}
-	};
-
-	for (auto i = 0; i < t.rows; i++)
-		for (auto j = 0; j < t.cols; j++)
-			t.at<float>(i, j) = m1[i][j];
-
-	Mat kc(3, 3, CV_32F);
-	double m2[3][3] = {
-		{2.1536653255083029e+003, 0., 6.1886776197116581e+002},
-		{0., 2.1484363899666910e+003, 5.0694898820460787e+002},
-		{0., 0., 1.}
-	};
-	for (auto i = 0; i < kc.rows; i++)
-		for (auto j = 0; j < kc.cols; j++)
-			kc.at<float>(i, j) = m2[i][j];
-
-	Mat kp(3, 3, CV_32F);
-	double m3[3][3] = {
-		{1.7235093158297350e+003, 0., 4.4128195628736904e+002},
-		{0., 3.4533404000869359e+003, 5.7316457428558715e+002},
-		{0., 0., 1.}
-	};
-	for (auto i = 0; i < kp.rows; i++)
-		for (auto j = 0; j < kp.cols; j++)
-			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);
-	testCase.run();
+	reconstructStatus = true;
+	on_pushButton_3_clicked();
+	ui.label_9->setVisible(true);
+	QCoreApplication::processEvents();
+	td->start();
 }
 
 #pragma endregion

Classes/Reconstruction.h

@@ -25,6 +25,7 @@
 #include "Device.h"
 #include "CoreAlgorithm.h"
 #include "MyThread.h"
+#include "YourThread.h"
 #include "Help.h"
 #include <iostream>
 using namespace pcl;
@@ -50,15 +51,20 @@ private:
 	QString picPath = "Result/result.png";	// 三维重建：拍摄照片的存储路径
 	PointCloud<PointXYZRGB> cloud;
 	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
+	QColor color = Qt::yellow;	// 点云渲染：颜色
 
+	// 标定相关变量
 	int liveViewTimer;
 	TreeModel* dirModel;
 	CalibrationData* calibData;
 	Calibrator* calibrator;
 	int imgCount;
 
-	// 多线程
+	// 重建多线程
+	YourThread *td;
+	bool reconstructStatus = false;		// 点云渲染
+	
+	// 点云多线程
 	MyThread* t;
 	bool loadingStatus = false;		// 点云渲染
 	void setStyle();

Classes/YourThread.cpp

@@ -0,0 +1,66 @@
+#include "YourThread.h"
+
+YourThread::YourThread(PointCloud<PointXYZRGB> *cloudRef)
+{
+	cloud = cloudRef;
+}
+
+void YourThread::run()
+{
+	// auto cArg = CameraArguments::getInstance();
+	Mat r(3, 3, CV_32F);
+	double m0[3][3] = {
+		{9.7004457782050868e-001, 1.3447278830863673e-002, 2.4255450466457243e-001},
+		{-8.7082927494022376e-003, 9.9974988338843274e-001, -2.0599424802792338e-002},
+		{-2.4277084396282392e-001, 1.7870124701864658e-002, 9.6991905639837694e-001}
+	};
+	for (auto i = 0; i < r.rows; i++)
+		for (auto j = 0; j < r.cols; j++)
+			r.at<float>(i, j) = m0[i][j];
+
+	Mat t(1, 3, CV_32F);
+	double m1[1][3] = {
+		{-1.9511179496234658e+002, 1.2627509817628756e+001, -5.9345885017522171e+001}
+	};
+
+	for (auto i = 0; i < t.rows; i++)
+		for (auto j = 0; j < t.cols; j++)
+			t.at<float>(i, j) = m1[i][j];
+
+	Mat kc(3, 3, CV_32F);
+	double m2[3][3] = {
+		{2.1536653255083029e+003, 0., 6.1886776197116581e+002},
+		{0., 2.1484363899666910e+003, 5.0694898820460787e+002},
+		{0., 0., 1.}
+	};
+	for (auto i = 0; i < kc.rows; i++)
+		for (auto j = 0; j < kc.cols; j++)
+			kc.at<float>(i, j) = m2[i][j];
+
+	Mat kp(3, 3, CV_32F);
+	double m3[3][3] = {
+		{1.7235093158297350e+003, 0., 4.4128195628736904e+002},
+		{0., 3.4533404000869359e+003, 5.7316457428558715e+002},
+		{0., 0., 1.}
+	};
+	for (auto i = 0; i < kp.rows; i++)
+		for (auto j = 0; j < kp.cols; j++)
+			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);
+	testCase.run();
+	vector<Mat> coordinates=testCase.getCoordinates();
+	cloud->width = coordinates.size();
+	cloud->height = 1;
+	cloud->is_dense = false;
+	cloud->points.resize(cloud->width * cloud->height);
+	auto index = 0;
+	for (size_t i = 0; i < cloud->points.size(); ++i)
+	{
+		cloud->points[i].x = coordinates[index].at<float>(0, 0);
+		cloud->points[i].y = coordinates[index].at<float>(0, 1);
+		cloud->points[i].z = coordinates[index].at<float>(0, 2);
+		index++;
+	}
+}

Classes/YourThread.h

@@ -0,0 +1,22 @@
+#pragma once
+
+#include <qthread.h>
+#include <pcl/point_types.h>
+#include <pcl/io/vtk_lib_io.h>
+#include "CoreAlgorithm.h"
+
+using namespace std;
+using namespace pcl;
+
+class YourThread :
+	public QThread
+{
+public:
+	YourThread(PointCloud<PointXYZRGB> *cloud);
+	~YourThread(){};
+
+private:
+	PointCloud<PointXYZRGB> *cloud;
+protected:
+	void run();
+};