modify some logical bugs,add remove point function

Classes/Calibrator.cpp

@@ -16,11 +16,11 @@ Calibrator::~Calibrator()
 
 }
 
-void Calibrator::addFrameSequence(std::vector<cv::Mat> &frameSeq)
+void Calibrator::addFrameSequence(std::vector<Mat> &frameSeq)
 {
     int n = frameSeqs.size();
     frameSeqs.resize(n+1);
-    std::vector<cv::Mat> &frame = frameSeqs[n];
+    std::vector<Mat> &frame = frameSeqs[n];
     for(int i = 0; i < frameSeq.size(); i++)
     {
         frame.push_back(frameSeq[i]);
@@ -38,17 +38,17 @@ void Calibrator::reset()
 
 void Calibrator::setBoardRows(int rows) {
     board_rows = rows;
-    board_size = cv::Size(board_rows, board_cols);
+    board_size = Size(board_rows, board_cols);
 }
 
 void Calibrator::setBoardCols(int cols) {
     board_cols = cols;
-    board_size = cv::Size(board_rows, board_cols);
+    board_size = Size(board_rows, board_cols);
 }
 
 void Calibrator::setCornerSize(double cornerSize) {
     dot_dis = cornerSize;
-    corner_size = cv::Size2f(cornerSize, cornerSize);
+    corner_size = Size2f(cornerSize, cornerSize);
 }
 
 void Calibrator::setDotDiameter(double dotDiameter) {
@@ -66,7 +66,7 @@ CalibrationData* Calibrator::calibrate()
 //    detect corners ////////////////////////////////////
     for(int i = 0; i < frameSeqs.size(); i++)
     {
-        std::vector<cv::Point2f> corners = extract_board_corners( frameSeqs[i][0] );
+        std::vector<Point2f> corners = extract_board_corners( frameSeqs[i][0] );
         board_corners.push_back(corners);
 //        std::cout<<i<<" corners: "<<corners.size()<<std::endl;
 //        for(int j = 0; j < corners.size(); j++) {
@@ -75,12 +75,12 @@ CalibrationData* Calibrator::calibrate()
     }
 
 //    collect projector correspondences
-    std::vector<cv::Point2f> pcorners;
+    std::vector<Point2f> pcorners;
     for(int i = 0; i < frameSeqs.size(); i++)
     {
-        std::vector<cv::Point2f> const& corners = board_corners[i];
-        cv::Mat pattern_image;
-        cv::Mat min_max_image;
+        std::vector<Point2f> const& corners = board_corners[i];
+        Mat pattern_image;
+        Mat min_max_image;
         if(corners.size()==0)
         {
             projector_corners.push_back(pcorners);
@@ -95,25 +95,25 @@ CalibrationData* Calibrator::calibrate()
         }
 
         pattern_list.push_back(pattern_image);
-        for (std::vector<cv::Point2f>::const_iterator iter=corners.begin(); iter!=corners.end(); iter++)
+        for (std::vector<Point2f>::const_iterator iter=corners.begin(); iter!=corners.end(); iter++)
         {
-            const cv::Point2f & p = *iter;
-            cv::Point2f q;
+            const Point2f & p = *iter;
+            Point2f q;
             //find an homography around p
             unsigned WINDOW_SIZE = 30;
-            std::vector<cv::Point2f> img_points , proj_points;
+            std::vector<Point2f> img_points , proj_points;
             if (p.x>WINDOW_SIZE && p.y>WINDOW_SIZE && p.x+WINDOW_SIZE<pattern_image.cols && p.y+WINDOW_SIZE<pattern_image.rows)
             {
                 for (unsigned h=p.y-WINDOW_SIZE; h<p.y+WINDOW_SIZE; h++)
                 {
-                    register const cv::Vec2f * row = pattern_image.ptr<cv::Vec2f>(h);
-                    register const cv::Vec2b * min_max_row = min_max_image.ptr<cv::Vec2b>(h);
-                    //cv::Vec2f * out_row = out_pattern_image.ptr<cv::Vec2f>(h);
+                    register const Vec2f * row = pattern_image.ptr<Vec2f>(h);
+                    register const Vec2b * min_max_row = min_max_image.ptr<Vec2b>(h);
+                    //Vec2f * out_row = out_pattern_image.ptr<Vec2f>(h);
                     for (unsigned w=p.x-WINDOW_SIZE; w<p.x+WINDOW_SIZE; w++)
                     {
-                        const cv::Vec2f & pattern = row[w];
-                        const cv::Vec2b & min_max = min_max_row[w];
-                        //cv::Vec2f & out_pattern = out_row[w];
+                        const Vec2f & pattern = row[w];
+                        const Vec2b & min_max = min_max_row[w];
+                        //Vec2f & out_pattern = out_row[w];
                         if (std::isnan(pattern[0])>0 || std::isnan(pattern[1])>0)
                         {
                             continue;
@@ -123,16 +123,16 @@ CalibrationData* Calibrator::calibrate()
                             continue;
                         }
 
-                        img_points.push_back(cv::Point2f(w,  h));
-                        proj_points.push_back(cv::Point2f(pattern));
+                        img_points.push_back(Point2f(w,  h));
+                        proj_points.push_back(Point2f(pattern));
 
                         //out_pattern = pattern;
                     }
                 }
-                cv::Mat H = cv::findHomography(img_points , proj_points, cv::RANSAC);
+                Mat H = findHomography(img_points , proj_points, RANSAC);
 //                std::cout << " H:\n" << H << std::endl;
-                cv::Point3d Q = cv::Point3d(cv::Mat(H*cv::Mat(cv::Point3d(p.x , p.y , 1.0))));
-                q = cv::Point2f(Q.x/Q.z  ,Q.y/Q.z);
+                Point3d Q = Point3d(Mat(H*Mat(Point3d(p.x , p.y , 1.0))));
+                q = Point2f(Q.x/Q.z  ,Q.y/Q.z);
                 // jiuzheng
                 // q.y += 118;
                 pcorners.push_back(q);
@@ -159,15 +159,15 @@ CalibrationData* Calibrator::calibrate()
             count++;
         }
     }
-    std::vector<cv::Point3f> world_corners;
+    std::vector<Point3f> world_corners;
     for (int h=0; h<board_size.height; h++)
     {
         for (int w=0; w<board_size.width; w++)
         {
-           world_corners.push_back(cv::Point3f(corner_size.width * w,  corner_size.height * h , 0.f));
+           world_corners.push_back(Point3f(corner_size.width * w,  corner_size.height * h , 0.f));
         }
     }
-    std::vector<std::vector<cv::Point3f> > objectPoints;
+    std::vector<std::vector<Point3f> > objectPoints;
     objectPoints.reserve(count);
     for (unsigned i=0; i<count; i++)
     {
@@ -175,16 +175,16 @@ CalibrationData* Calibrator::calibrate()
     }
 
     //generate world object coordinates
-    std::vector<cv::Point3f> world_corners_p;
+    std::vector<Point3f> world_corners_p;
     for (int h=0; h<board_size.height; h++)
     {
         for (int w=0; w<board_size.width; w++)
         {
-            world_corners_p.push_back(cv::Point3f(corner_size.width * w , corner_size.height * h  ,0.f));
+            world_corners_p.push_back(Point3f(corner_size.width * w , corner_size.height * h  ,0.f));
         }
     }
 
-    std::vector<std::vector<cv::Point3f> > objectPoints_p;
+    std::vector<std::vector<Point3f> > objectPoints_p;
     objectPoints_p.reserve(count);
     for (unsigned i=0; i<count; i++)
     {
@@ -196,48 +196,48 @@ CalibrationData* Calibrator::calibrate()
     pattern_list.resize(count);
 
     int cal_flags = 0
-                  //+ cv::CALIB_FIX_K1
-                  //+ cv::CALIB_FIX_K2
-                  //+ cv::CALIB_ZERO_TANGENT_DIST
-                  + cv::CALIB_FIX_K3
+                  //+ CALIB_FIX_K1
+                  //+ CALIB_FIX_K2
+                  //+ CALIB_ZERO_TANGENT_DIST
+                  + CALIB_FIX_K3
                   ;
     //calibrate the camera ////////////////////////////////////
-    std::vector<cv::Mat> cam_rvecs , cam_tvecs;
+    std::vector<Mat> cam_rvecs , cam_tvecs;
     int cam_flags = cal_flags;
-    cv::Size imageSize = frameSeqs[0][0].size();
-    res->cam_error = cv::calibrateCamera(objectPoints , board_corners , imageSize , res->Kc , res->kc  ,cam_rvecs , cam_tvecs);
+    Size imageSize = frameSeqs[0][0].size();
+    res->cam_error = calibrateCamera(objectPoints , board_corners , imageSize , res->Kc , res->kc  ,cam_rvecs , cam_tvecs);
     std::cout<<"calibrate the camera !"<<std::endl;
 
     //calibrate the projector ////////////////////////////////////
-    std::vector<cv::Mat> proj_rvecs , proj_tvecs;
+    std::vector<Mat> proj_rvecs , proj_tvecs;
     int proj_flags = cal_flags;
-    cv::Size projector_size(912, 1140);
-    res->proj_error = cv::calibrateCamera(objectPoints_p , projector_corners, projector_size , res->Kp , res->kp , proj_rvecs , proj_tvecs);
+    Size projector_size(912, 1140);
+    res->proj_error = calibrateCamera(objectPoints_p , projector_corners, projector_size , res->Kp , res->kp , proj_rvecs , proj_tvecs);
 
     std::cout<<"calibrate the projector !"<<std::endl;
     //stereo calibration
-    cv::Mat E,  F;
-    res->stereo_error = cv::stereoCalibrate(objectPoints , board_corners , projector_corners ,
+    Mat E,  F;
+    res->stereo_error = stereoCalibrate(objectPoints , board_corners , projector_corners ,
                                             res->Kc , res->kc , res->Kp  ,res->kp  ,imageSize /*ignored*/ ,
                                             res->Rp , res->Tp , E , F );
-//    res->stereo_error = cv::stereoCalibrate(objectPoints , board_corners , projector_corners , res->Kc , res->kc , res->Kp  ,res->kp  ,imageSize /*ignored*/ , res->Rp , res->Tp , E , F ,
-//                                                    cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS  ,50  ,DBL_EPSILON) ,
-//                                                    cv::CALIB_FIX_INTRINSIC /*cv::CALIB_USE_INTRINSIC_GUESS + cal_flags*/);
+//    res->stereo_error = stereoCalibrate(objectPoints , board_corners , projector_corners , res->Kc , res->kc , res->Kp  ,res->kp  ,imageSize /*ignored*/ , res->Rp , res->Tp , E , F ,
+//                                                    TermCriteria(TermCriteria::COUNT + TermCriteria::EPS  ,50  ,DBL_EPSILON) ,
+//                                                    CALIB_FIX_INTRINSIC /*CALIB_USE_INTRINSIC_GUESS + cal_flags*/);
     std::cout<<"stereo calibration !"<<std::endl;
 
 
-	cv::FileStorage fsc("rtc.xml", cv::FileStorage::WRITE);
-	cv::FileStorage fsp("rtp.xml", cv::FileStorage::WRITE);
+	FileStorage fsc("rtc.xml", FileStorage::WRITE);
+	FileStorage fsp("rtp.xml", FileStorage::WRITE);
 
 	// objectPoints  projector_corners  board_corners
 	std::ofstream opout("objectPoints.txt");
 	std::ofstream pcout("projector_corners.txt");
 	std::ofstream ccout("board_corners.txt");
 	for (int i = 0; i < objectPoints.size(); i++) {
-		fsc << "R" + std::to_string(i) << cv::Mat(cam_rvecs[i]);
-		fsc << "T" + std::to_string(i) << cv::Mat(cam_tvecs[i]);
-		fsp << "R" + std::to_string(i) << cv::Mat(proj_rvecs[i]);
-		fsp << "T" + std::to_string(i) << cv::Mat(proj_tvecs[i]);
+		fsc << "R" + std::to_string(i) << Mat(cam_rvecs[i]);
+		fsc << "T" + std::to_string(i) << Mat(cam_tvecs[i]);
+		fsp << "R" + std::to_string(i) << Mat(proj_rvecs[i]);
+		fsp << "T" + std::to_string(i) << Mat(proj_tvecs[i]);
 		for (int j = 0; j < objectPoints[i].size(); j++) {
 			opout << objectPoints[i][j] << std::endl;
 			pcout << projector_corners[i][j] << std::endl;
@@ -254,24 +254,24 @@ CalibrationData* Calibrator::calibrate()
 
 }
 
-std::vector<cv::Point2f> Calibrator::extract_board_corners(cv::Mat &gray_image)
+std::vector<Point2f> Calibrator::extract_board_corners(Mat &gray_image)
 {
-    std::vector<cv::Point2f> corners;
+    std::vector<Point2f> corners;
     int image_scale = 1;
     if (gray_image.rows<1)
     {
         return corners;
     }
-    cv::Size imageSize = gray_image.size();
+    Size imageSize = gray_image.size();
     if (imageSize.width>1024)
     {
         image_scale = imageSize.width/1024;
     }
 
-    cv::Mat small_img;
+    Mat small_img;
     if (image_scale>1)
     {
-        cv::resize(gray_image , small_img , cv::Size(gray_image.cols/image_scale , gray_image.rows/image_scale));
+        resize(gray_image , small_img , Size(gray_image.cols/image_scale , gray_image.rows/image_scale));
     }
     else
     {
@@ -279,27 +279,27 @@ std::vector<cv::Point2f> Calibrator::extract_board_corners(cv::Mat &gray_image)
     }
 
     if(board_type == Chessboard) {
-        cv::findChessboardCorners(small_img, board_size, corners);
+        findChessboardCorners(small_img, board_size, corners);
     }
     else if(board_type == Circular) {
-        cv::findCirclesGrid(small_img, board_size, corners);
+        findCirclesGrid(small_img, board_size, corners);
     }
 
     if (corners.size())
     {
-        for (std::vector<cv::Point2f>::iterator iter=corners.begin(); iter!=corners.end(); iter++)
+        for (std::vector<Point2f>::iterator iter=corners.begin(); iter!=corners.end(); iter++)
         {
             *iter = image_scale*(*iter);
         }
-        cv::cornerSubPix(gray_image , corners , cv::Size(11 , 11) , cv::Size(-1 , -1) ,
-                            cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::MAX_ITER, 30 , 0.1));
+        cornerSubPix(gray_image , corners , Size(11 , 11) , Size(-1 , -1) ,
+                            TermCriteria(TermCriteria::EPS + TermCriteria::MAX_ITER, 30 , 0.1));
     }
 
     return corners;
 }
 
 
-bool Calibrator::decode_gray_set(int ind , cv::Mat & pattern_image,  cv::Mat & min_max_image)
+bool Calibrator::decode_gray_set(int ind , Mat & pattern_image,  Mat & min_max_image)
 {
     if (ind >= frameSeqs.size())
     {   //out of bounds
@@ -308,7 +308,7 @@ bool Calibrator::decode_gray_set(int ind , cv::Mat & pattern_image,  cv::Mat & m
 
     //estimate direct component
     //b = config.value("robust_estimation/b"  DEFAULT_B).toFloat();
-    std::vector<cv::Mat> images;
+    std::vector<Mat> images;
 //    QList<unsigned> direct_component_images(QList<unsigned>() << 15 << 16 << 17 << 18 << 35 << 36 << 37 << 38);
     int total_images = frameSeqs[ind].size();
     int total_patterns = total_images/2 - 1;
@@ -326,12 +326,12 @@ bool Calibrator::decode_gray_set(int ind , cv::Mat & pattern_image,  cv::Mat & m
     {
         images.push_back(frameSeqs[ind][i]);
     }
-    cv::Mat direct_light = sl::estimate_direct_light(images,  b);
+    Mat direct_light = sl::estimate_direct_light(images,  b);
 
     //m = config.value("robust_estimation/m"  DEFAULT_M).toUInt();
 //    return sl::decode_pattern(frameSeqs[ind] , pattern_image , min_max_image , sl::RobustDecode|sl::GrayPatternDecode , direct_light,  m);
 
-    cv::Size projector_size(912, 1140);
+    Size projector_size(912, 1140);
     bool rv = sl::decode_pattern(frameSeqs[ind], pattern_image, min_max_image, projector_size, sl::RobustDecode|sl::GrayPatternDecode, direct_light, m);
     return rv;
 }

Classes/MyThread.cpp

@@ -13,6 +13,9 @@ void MyThread::run()
 		io::loadPCDFile(pcd, *cloudPtr);
 		cloud = *cloudPtr;
 	}
+
+	auto pclData = PointCloudData::getInstance(cloud);
+	pclData->setCloud(cloud);
 	
 
 }

Classes/MyThread.h

@@ -3,6 +3,7 @@
 #include <qthread.h>
 #include <pcl/point_types.h>
 #include <pcl/io/vtk_lib_io.h>
+#include "PointCloudData.h"
 
 using namespace std;
 using namespace pcl;

Classes/PointCloudData.cpp

@@ -0,0 +1,70 @@
+#include "PointCloudData.h"
+
+PointCloudData* PointCloudData::instance = nullptr;
+
+PointCloudData::PointCloudData(PointCloud<PointXYZRGB> cloudArg)
+{
+	cloud = cloudArg;
+	num = 0;
+}
+
+PointCloudData* PointCloudData::getInstance(PointCloud<PointXYZRGB> cloudArg)
+{
+	if (instance == nullptr) instance = new PointCloudData(cloudArg);
+	return instance;
+}
+
+PointCloudData* PointCloudData::getInstance()
+{
+	return instance;
+}
+
+PointCloud<PointXYZRGB> PointCloudData::getCloud() const{
+	return cloud;
+}
+	
+void PointCloudData::setCloud(PointCloud<PointXYZRGB> cloudArg){
+	cloud= cloudArg;
+}
+
+boost::shared_ptr<visualization::PCLVisualizer> PointCloudData::getViewer()
+{
+	return viewer;
+}
+
+
+void PointCloudData::setViewer(boost::shared_ptr<visualization::PCLVisualizer> viewerArg)
+{
+	viewer = viewerArg;
+}
+
+std::vector<int> PointCloudData::getIndices()
+{
+	return indices;
+}
+
+void PointCloudData::setIndices(std::vector<int> indicesArg)
+{
+	indices = indicesArg;
+}
+
+Ui::ReconstructionClass PointCloudData::getUI()
+{
+	return ui;
+}
+
+void PointCloudData::setUI(Ui::ReconstructionClass uiArg)
+{
+	ui = uiArg;
+}
+
+int PointCloudData::getNum()
+{
+	return num;
+}
+
+void PointCloudData::setNum()
+{
+	num++;
+}
+

Classes/PointCloudData.h

@@ -0,0 +1,35 @@
+#pragma once
+#include <pcl/point_types.h>
+#include <pcl/io/pcd_io.h>
+#include <pcl/visualization/pcl_visualizer.h>
+#include <pcl/io/vtk_lib_io.h>
+#include "Reconstruction.h"
+
+using namespace pcl;
+
+class PointCloudData
+{
+private:
+	PointCloudData(PointCloud<PointXYZRGB> cloudArg);
+	~PointCloudData(){};
+	PointCloud<PointXYZRGB> cloud;
+	boost::shared_ptr<visualization::PCLVisualizer> viewer;
+	std::vector<int> indices;
+	Ui::ReconstructionClass ui;
+	int num;// 用于框选删除点云的名称
+	
+public:
+	static PointCloudData* getInstance();
+	static PointCloudData* getInstance(PointCloud<PointXYZRGB> cloudArg);
+	static PointCloudData* instance ;
+	PointCloud<PointXYZRGB> getCloud() const;
+	void setCloud(PointCloud<PointXYZRGB> cloudArg);
+	boost::shared_ptr<visualization::PCLVisualizer> getViewer();
+	void setViewer(boost::shared_ptr<visualization::PCLVisualizer> viewerArg);
+	std::vector<int> getIndices();
+	void setIndices(std::vector<int> indicesArg);
+	Ui::ReconstructionClass getUI();
+	void setUI(Ui::ReconstructionClass uiArg);
+	int getNum();
+	void setNum();
+};

Classes/Reconstruction.cpp

@@ -134,42 +134,98 @@ void Reconstruction::on_pushButton_3_clicked()
 #pragma endregion
 
 #pragma region 多线程
+// 点云框选回调函数
+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();
+	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)
+	{
+		clicked_points_3d->points.push_back(cloudPtr->points.at(indices[i]));
+	}
+	visualization::PointCloudColorHandlerCustom<PointXYZRGB> red(clicked_points_3d, 255, 0, 0);
+	std::stringstream ss;
+	std::string cloudName;
+	pclData->setNum();
+	ss <<num++;
+	ss >> cloudName;
+	cloudName += "_cloudName";
+
+	pclData->getViewer()->addPointCloud(clicked_points_3d, red, cloudName);
+	pclData->getViewer()->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()
 {
 	cout << cloud.width;
 	ui.label_9->setVisible(false);
-	
-	if(loadingStatus)
+
+	if (loadingStatus)
 	{
 		cloud = t->getCloud();
 		loadingStatus = false;
 	}
 
-	if(reconstructStatus)
+	if (reconstructStatus)
 	{
 		reconstructStatus = false;
 	}
 	cout << cloud[0].r;
-	
+
 	updateQVTK(cloud, color);
 }
 
 void Reconstruction::updateQVTK(PointCloud<PointXYZRGB> cloud, QColor color)
 {
-	boost::shared_ptr<visualization::PCLVisualizer> viewer(new visualization::PCLVisualizer("3D Viewer"));
-	viewer->setBackgroundColor(0.458, 0.529, 0.844);
-	viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
+	boost::shared_ptr<visualization::PCLVisualizer> viewer;
+	visualization::Camera camera;
+	if (PointCloudData::getInstance() != nullptr)
+	{
+		auto pclData = PointCloudData::getInstance();
+		pclData->setCloud(cloud);
+		pclData->getViewer()->getCameraParameters(camera);
+		cout<<cloud.size()<<"," << camera.pos[0] << "," << camera.pos[1] << "," << camera.pos[2] << "," << camera.view[0] <<
+			"," << camera.view[1] << "," << camera.view[2] << "\n";
+		viewer = pclData->getViewer();
+	}
+	else
+	{
+		boost::shared_ptr<visualization::PCLVisualizer> viewerArg(new visualization::PCLVisualizer("3D Viewer"));
+		viewer=viewerArg;
+		viewer->setBackgroundColor(0.458, 0.529, 0.844);
+		auto pclData = PointCloudData::getInstance(cloud);
+		pclData->setViewer(viewer);
+		pclData->setUI(ui);
+	}
+	double size=1;
+	viewer->getPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, size, "cloud");
+	viewer->removeAllPointClouds();
+	// viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
 	if (cloud.size() != 0)
 	{
 		PointCloud<PointXYZRGB>::Ptr cloudPtr(new PointCloud<PointXYZRGB>);
 		cloudPtr = cloud.makeShared();
-
 		int x = int(color.redF() * 255);
 		int y = int(color.greenF() * 255);
 		int z = int(color.blueF() * 255);
-		visualization::PointCloudColorHandlerCustom<PointXYZRGB> cloud_color(cloudPtr, x, y, z);// 统一处理点云颜色
+		visualization::PointCloudColorHandlerCustom<PointXYZRGB> cloud_color(cloudPtr, x, y, z); // 统一处理点云颜色
 		viewer->addPointCloud(cloudPtr, cloud_color, "cloud");
-		viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
+		viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, size, "cloud");
+		// viewer->setCameraPosition(camera.pos[0], camera.pos[1], camera.pos[2], camera.view[0], camera.view[1], camera.view[2],0,0,1);
+		viewer->registerAreaPickingCallback(pp_callback, (void*)&cloud);
 	}
 	ui.qvtkWidget->SetRenderWindow(viewer->getRenderWindow());
 	ui.qvtkWidget->update();
@@ -562,7 +618,7 @@ void Reconstruction::on_pushButton_10_clicked()
 
 			screen->grabWindow(ui.label_21->winId()).save(fileName);
 
-			
+
 			// QImage iim(picPath); //创建一个图片对象,存储源图片
 			// QPainter painter(&iim); //设置绘画设备
 			// QFile file(fileName); //创建一个文件对象，存储用户选择的文件
@@ -582,7 +638,6 @@ void Reconstruction::on_pushButton_10_clicked()
 		QMessageBox mesg;
 		mesg.warning(this, "WARNING", "Haven't taken picture!");
 	}
-	
 }
 
 // 开始重建
@@ -610,15 +665,31 @@ void Reconstruction::on_pushButton_11_clicked()
 void Reconstruction::on_pushButton_12_clicked()
 {
 	// todo 异常点剔除
+	auto pclData = PointCloudData::getInstance();
+	// cloud = pclData->getCloud();
+	auto indices = pclData->getIndices();
+	for (auto i = 0; i < indices.size(); ++i)
+	{
+		// cout << "i:" << i << " indices:" << indices[i] << " diff:" << indices[i]-i << "\n";
+		auto index = cloud.begin() + (indices[i] - i);
+		// cout << "size:" << cloudPtr->size() << ",index:" << indices[i] - i<<"\n" ;
+		if (indices[i] - i >= cloud.size())break;
+		cloud.erase(index);
+	}
+	indices.clear();
+	pclData->setIndices(indices);
+	pclData->setCloud(cloud);
+	updateQVTK(cloud, color);
+	// pclData->getViewer()->updatePointCloud();
 }
 
 // 导入点云
 void Reconstruction::on_pushButton_13_clicked()
 {
-	if (loadingStatus)
+	if (loadingStatus || reconstructStatus)
 	{
 		QMessageBox mesg;
-		mesg.warning(this, "WARNING", "正在加载… ");
+		mesg.warning(this, "WARNING", "There is a Point Cloud Loading.");
 		return;
 	}
 
@@ -632,7 +703,11 @@ void Reconstruction::on_pushButton_13_clicked()
 		mesg.warning(this, "WARNING", "Failed to open file");
 		return;
 	}
-
+	boost::shared_ptr<visualization::PCLVisualizer> viewer(new visualization::PCLVisualizer("3D Viewer"));
+	viewer->setBackgroundColor(0.458, 0.529, 0.844);
+	ui.qvtkWidget->SetRenderWindow(viewer->getRenderWindow());
+	auto pclData = PointCloudData::getInstance(cloud);
+	pclData->setViewer(viewer);
 	ui.label_9->setVisible(true);
 	QCoreApplication::processEvents();
 	t->setPcd(fileName);
@@ -667,8 +742,10 @@ void Reconstruction::on_pushButton_15_clicked()
 // 颜色选取
 void Reconstruction::on_pushButton_16_clicked()
 {
+	auto pclData = PointCloudData::getInstance(cloud);
 	QColor colortmp = QColorDialog::getColor(Qt::black);
-	if (colortmp.isValid()) {
+	if (colortmp.isValid())
+	{
 		color = colortmp;
 		updateQVTK(cloud, color);
 	}

Classes/Reconstruction.h

@@ -27,6 +27,7 @@
 #include "CoreAlgorithm.h"
 #include "MyThread.h"
 #include "YourThread.h"
+#include "PointCloudData.h"
 #include "Help.h"
 #include <iostream>
 using namespace pcl;

Classes/YourThread.cpp

@@ -63,4 +63,7 @@ void YourThread::run()
 		cloud->points[i].z = coordinates[index].at<float>(0, 2);
 		index++;
 	}
+	
+	auto pclData = PointCloudData::getInstance(*cloud);
+	pclData->setCloud(*cloud);
 }

Classes/YourThread.h

@@ -4,6 +4,7 @@
 #include <pcl/point_types.h>
 #include <pcl/io/vtk_lib_io.h>
 #include "CoreAlgorithm.h"
+#include "PointCloudData.h"
 
 using namespace std;
 using namespace pcl;

Reconstruction.vcxproj

@@ -131,6 +131,7 @@
     <ClCompile Include="Classes\log2.cpp" />
     <ClCompile Include="Classes\main.cpp" />
     <ClCompile Include="Classes\MyThread.cpp" />
+    <ClCompile Include="Classes\PointCloudData.cpp" />
     <ClCompile Include="Classes\ProjectorLC4500.cpp" />
     <ClCompile Include="Classes\Reconstruction.cpp" />
     <ClCompile Include="Classes\rtGetInf.cpp" />
@@ -156,6 +157,7 @@
     <ClInclude Include="Classes\Camera.h" />
     <ClInclude Include="Classes\CameraPointGrey.h" />
     <ClInclude Include="Classes\CameraArguments.h" />
+    <ClInclude Include="Classes\PointCloudData.h" />
     <ClInclude Include="Classes\YourThread.h" />
     <QtMoc Include="Classes\Loading.h" />
     <QtMoc Include="Classes\DisplayPic.h" />

Reconstruction.vcxproj.filters

@@ -59,6 +59,9 @@
     <Filter Include="src\reconstruction\projector">
       <UniqueIdentifier>{762af5a3-10df-4dc7-8ce8-ed2501d9eb12}</UniqueIdentifier>
     </Filter>
+    <Filter Include="src\reconstruction\pointcloud">
+      <UniqueIdentifier>{cdf9f84f-4a3a-4fc8-b596-038eb3990675}</UniqueIdentifier>
+    </Filter>
   </ItemGroup>
   <ItemGroup>
     <QtUic Include="UI\Reconstruction.ui">
@@ -81,9 +84,6 @@
     <ClCompile Include="Classes\Reconstruction.cpp">
       <Filter>src</Filter>
     </ClCompile>
-    <ClCompile Include="Classes\CameraArguments.cpp">
-      <Filter>src\reconstruction</Filter>
-    </ClCompile>
     <ClCompile Include="Classes\Loading.cpp">
       <Filter>src\scene\loadingscene</Filter>
     </ClCompile>
@@ -198,6 +198,12 @@
     <ClCompile Include="Classes\YourThread.cpp">
       <Filter>src\scene\mainscene</Filter>
     </ClCompile>
+    <ClCompile Include="Classes\CameraArguments.cpp">
+      <Filter>src\reconstruction\calibrator</Filter>
+    </ClCompile>
+    <ClCompile Include="Classes\PointCloudData.cpp">
+      <Filter>src\reconstruction\pointcloud</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="Classes\Reconstruction.h">
@@ -219,9 +225,6 @@
     </QtRcc>
   </ItemGroup>
   <ItemGroup>
-    <ClInclude Include="Classes\CameraArguments.h">
-      <Filter>src\reconstruction</Filter>
-    </ClInclude>
     <ClInclude Include="Classes\cwt_emxAPI.h">
       <Filter>src\reconstruction\cwt</Filter>
     </ClInclude>
@@ -345,5 +348,11 @@
     <ClInclude Include="Classes\YourThread.h">
       <Filter>src\scene\mainscene</Filter>
     </ClInclude>
+    <ClInclude Include="Classes\CameraArguments.h">
+      <Filter>src\reconstruction\calibrator</Filter>
+    </ClInclude>
+    <ClInclude Include="Classes\PointCloudData.h">
+      <Filter>src\reconstruction\pointcloud</Filter>
+    </ClInclude>
   </ItemGroup>
 </Project>

et --soft HEAD^q

@@ -1,152 +0,0 @@
-commit 263248a52082067cca0360e3ce8a125427d9e8c1 (HEAD -> master)
-Author: Tang1705 <17301138@bjtu.edu.cn>
-Date:   Sat Apr 4 09:59:50 2020 +0800
-
-    修改vtk显示点云
-
-commit 0f1d54ae5950b98f5095be44b7ada61d304ab32d (origin/master)
-Author: ZESl <823989065@qq.com>
-Date:   Thu Apr 2 10:48:22 2020 +0800
-
-    ui 0.7 增加按钮图标，增加qss，修改部分方法，界面优化
-
-commit f6d84c5470b7a3adbbfc96a45b77590b8dacd8a4
-Author: ZESl <823989065@qq.com>
-Date:   Wed Apr 1 18:50:56 2020 +0800
-
-    修复bug 测试是否连接成功
-
-commit 689b04a05cfcbbbd00464941da3b567191621813
-Author: Tang1705 <17301138@bjtu.edu.cn>
-Date:   Wed Feb 12 16:55:39 2020 +0800
-
-    wo shi yi ge python/c++ fan yi ji
-
-commit 2c2a0e2ae036552bd69a79821fa317946a3ff8b5
-Author: Norah <30373753+ZESl@users.noreply.github.com>
-Date:   Tue Feb 11 17:25:57 2020 +0800
-
-    ui 0.6 界面调整
-
-commit 7c028498e845f3b76ac582710820631afa9c3f8d
-Author: Norah <30373753+ZESl@users.noreply.github.com>
-Date:   Fri Feb 7 19:53:11 2020 +0800
-
-    ui 0.5 载入界面(loading) ui修改
-
-commit 5511dd247d572ad0eead9303374d7cbf9b889ec5
-Author: Norah <30373753+ZESl@users.noreply.github.com>
-Date:   Fri Feb 7 15:25:20 2020 +0800
-
-    ui 0.4 界面微小改动 添加QSS文件 仍需继续调整
-
-commit 856f11a29696cc3278dcc7cd4f2e1d9ff2f18117
-Merge: 4cc40c90 7fe10d49
-Author: Norah <30373753+ZESl@users.noreply.github.com>
-Date:   Wed Feb 5 11:08:44 2020 +0800
-
-    Merge remote-tracking branch 'refs/remotes/origin/master'
-
-commit 4cc40c903c863cffd8a998380a0778460b6df732
-Author: Norah <30373753+ZESl@users.noreply.github.com>
-Date:   Wed Feb 5 10:55:39 2020 +0800
-
-    ui 0.3 添加存储图像等功能 按钮进一步优化
-
-commit 7fe10d49e57dcef672ff00e02f6c82903cede195
-Author: Tang1705 <17301138@bjtu.edu.cn>
-Date:   Mon Feb 3 19:50:47 2020 +0800
-
-    del a file
-
-commit 0e7376ccd5c729422976c8bfc9b1fa77e2a17884
-Author: Tang1705 <17301138@bjtu.edu.cn>
-Date:   Mon Feb 3 19:48:30 2020 +0800
-
-    add some function of reconstruciton
-
-commit 8ae4c44bece2ae61ed905de19276926c26b3b7ca
-Author: Norah <30373753+ZESl@users.noreply.github.com>
-Date:   Mon Feb 3 15:37:04 2020 +0800
-
-    ui 0.3 添加图案投影拍照后展示照片的界面 DisplayPic
-
-commit f4d6cc81b5ecb87d6c948d3bece5deac426771e1
-Merge: 178c1ac1 257aed70
-Author: Norah <30373753+ZESl@users.noreply.github.com>
-Date:   Sat Feb 1 21:46:27 2020 +0800
-
-    Merge branch 'master' of https://github.com/Tang1705/Reconstruction
-
-commit 178c1ac179e3e0138882089e448046e978db24b2
-Author: Norah <30373753+ZESl@users.noreply.github.com>
-Date:   Sat Feb 1 21:26:08 2020 +0800
-
-    ui 0.2 添加loading界面 待美观
-
-commit 257aed703040f85b81b2d7f08a8cd86b23ba99d5
-Author: Tang1705 <17301138@bjtu.edu.cn>
-Date:   Sat Feb 1 18:35:26 2020 +0800
-
-    add camera arguments class
-
-commit c0cb15818bdb0a49dd3ea87b95c80f11aafb611e
-Author: Norah <30373753+ZESl@users.noreply.github.com>
-Date:   Fri Jan 31 22:47:57 2020 +0800
-
-    ui 0.1 继续按钮填充
-
-commit 897fa805822ba731f3c650ae8a01d0ef223d36e8
-Author: Norah <30373753+ZESl@users.noreply.github.com>
-Date:   Fri Jan 31 22:19:08 2020 +0800
-
-    ui 0.1 部分按钮填充 + bug修复
-
-commit 7d4d5f742313936c61154a284315957f3e8b4508
-Author: Norah <30373753+ZESl@users.noreply.github.com>
-Date:   Thu Jan 30 23:04:10 2020 +0800
-
-    ui 0.1
-
-commit 1fc76542f76abb89be52c023113244da5a05e149
-Author: Tang1705 <17301138@bjtu.edu.cn>
-Date:   Wed Jan 29 17:40:22 2020 +0800
-
-    fix errors
-
-commit a53f2ed8c52294a02b04bf110b4af522b9df9d84
-Merge: a71fa476 54c5864e
-Author: Tang1705 <17301138@bjtu.edu.cn>
-Date:   Mon Jan 27 20:21:47 2020 +0800
-
-    Merge branch 'master' of https://github.com/Tang1705/Reconstruction
-
-commit a71fa476202ab6800a3800b5807ec4db7962f8c9
-Author: Tang1705 <17301138@bjtu.edu.cn>
-Date:   Mon Jan 27 20:20:56 2020 +0800
-
-    add part of opencv
-
-commit 54c5864e7e7f938f4320b0742628ea5484c65762
-Author: Tang1705 <17301138@bjtu.edu.cn>
-Date:   Mon Jan 27 19:26:57 2020 +0800
-
-    add part of opencv
-
-commit 0c4ac1d8bb49f7eb98fb4e7e8866902df639dcdb
-Author: Tang1705 <17301138@bjtu.edu.cn>
-Date:   Mon Jan 27 18:56:50 2020 +0800
-
-    add flycapture
-
-commit 1b7d21abf5549c3272e874777ec3774fa105b401
-Author: Tang1705 <17301138@bjtu.edu.cn>
-Date:   Sun Jan 26 18:08:38 2020 +0800
-
-    add lib
-
-commit 9f79c4a67939400e003a9a4a5b1411ff2aef9e0b
-Author: Tang1705 <17301138@bjtu.edu.cn>
-Date:   Sun Jan 26 17:45:44 2020 +0800
-
-    init project

x64/Debug/Reconstruction.log

@@ -38,4 +38,5 @@ D:\BJTU\Reconstruction\Lib\FlyCapture2\include\Utilities.h(1,1): warning C4819:
 D:\BJTU\Reconstruction\Lib\FlyCapture2\include\AVIRecorder.h(1,1): warning C4819: 该文件包含不能在当前代码页(936)中表示的字符。请将该文件保存为 Unicode 格式以防止数据丢失
 D:\BJTU\Reconstruction\Lib\FlyCapture2\include\TopologyNode.h(1,1): warning C4819: 该文件包含不能在当前代码页(936)中表示的字符。请将该文件保存为 Unicode 格式以防止数据丢失
 D:\BJTU\Reconstruction\Lib\FlyCapture2\include\ImageStatistics.h(1,1): warning C4819: 该文件包含不能在当前代码页(936)中表示的字符。请将该文件保存为 Unicode 格式以防止数据丢失
+D:\BJTU\Reconstruction\Classes\Reconstruction.cpp(146,43): warning C4806: “==”: 不安全操作: 从类型“bool”提升到类型“int”的值不能等于给定的常量
   Reconstruction.vcxproj -> D:\BJTU\Reconstruction\x64\Debug\Reconstruction.exe