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modify some logical bugs,add remove point function

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This commit is contained in:
Tang1705
2020-05-19 10:36:13 +08:00
parent 3a212d0b8e
commit bde3ce178e
31 changed files with 216106 additions and 170710 deletions
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132
Classes/Calibrator.cpp
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@@ -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(); int n = frameSeqs.size();
frameSeqs.resize(n+1); 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++) for(int i = 0; i < frameSeq.size(); i++)
{ {
frame.push_back(frameSeq[i]); frame.push_back(frameSeq[i]);
@@ -38,17 +38,17 @@ void Calibrator::reset()
void Calibrator::setBoardRows(int rows) { void Calibrator::setBoardRows(int rows) {
board_rows = rows; board_rows = rows;
board_size = cv::Size(board_rows, board_cols); board_size = Size(board_rows, board_cols);
} }
void Calibrator::setBoardCols(int cols) { void Calibrator::setBoardCols(int cols) {
board_cols = cols; board_cols = cols;
board_size = cv::Size(board_rows, board_cols); board_size = Size(board_rows, board_cols);
} }
void Calibrator::setCornerSize(double cornerSize) { void Calibrator::setCornerSize(double cornerSize) {
dot_dis = cornerSize; dot_dis = cornerSize;
corner_size = cv::Size2f(cornerSize, cornerSize); corner_size = Size2f(cornerSize, cornerSize);
} }
void Calibrator::setDotDiameter(double dotDiameter) { void Calibrator::setDotDiameter(double dotDiameter) {
@@ -66,7 +66,7 @@ CalibrationData* Calibrator::calibrate()
// detect corners //////////////////////////////////// // detect corners ////////////////////////////////////
for(int i = 0; i < frameSeqs.size(); i++) 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); board_corners.push_back(corners);
// std::cout<<i<<" corners: "<<corners.size()<<std::endl; // std::cout<<i<<" corners: "<<corners.size()<<std::endl;
// for(int j = 0; j < corners.size(); j++) { // for(int j = 0; j < corners.size(); j++) {
@@ -75,12 +75,12 @@ CalibrationData* Calibrator::calibrate()
} }
// collect projector correspondences // collect projector correspondences
std::vector<cv::Point2f> pcorners; std::vector<Point2f> pcorners;
for(int i = 0; i < frameSeqs.size(); i++) for(int i = 0; i < frameSeqs.size(); i++)
{ {
std::vector<cv::Point2f> const& corners = board_corners[i]; std::vector<Point2f> const& corners = board_corners[i];
cv::Mat pattern_image; Mat pattern_image;
cv::Mat min_max_image; Mat min_max_image;
if(corners.size()==0) if(corners.size()==0)
{ {
projector_corners.push_back(pcorners); projector_corners.push_back(pcorners);
@@ -95,25 +95,25 @@ CalibrationData* Calibrator::calibrate()
} }
pattern_list.push_back(pattern_image); 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; const Point2f & p = *iter;
cv::Point2f q; Point2f q;
//find an homography around p //find an homography around p
unsigned WINDOW_SIZE = 30; 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) 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++) 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 Vec2f * row = pattern_image.ptr<Vec2f>(h);
register const cv::Vec2b * min_max_row = min_max_image.ptr<cv::Vec2b>(h); register const Vec2b * min_max_row = min_max_image.ptr<Vec2b>(h);
//cv::Vec2f * out_row = out_pattern_image.ptr<cv::Vec2f>(h); //Vec2f * out_row = out_pattern_image.ptr<Vec2f>(h);
for (unsigned w=p.x-WINDOW_SIZE; w<p.x+WINDOW_SIZE; w++) for (unsigned w=p.x-WINDOW_SIZE; w<p.x+WINDOW_SIZE; w++)
{ {
const cv::Vec2f & pattern = row[w]; const Vec2f & pattern = row[w];
const cv::Vec2b & min_max = min_max_row[w]; const Vec2b & min_max = min_max_row[w];
//cv::Vec2f & out_pattern = out_row[w]; //Vec2f & out_pattern = out_row[w];
if (std::isnan(pattern[0])>0 || std::isnan(pattern[1])>0) if (std::isnan(pattern[0])>0 || std::isnan(pattern[1])>0)
{ {
continue; continue;
@@ -123,16 +123,16 @@ CalibrationData* Calibrator::calibrate()
continue; continue;
} }
img_points.push_back(cv::Point2f(w, h)); img_points.push_back(Point2f(w, h));
proj_points.push_back(cv::Point2f(pattern)); proj_points.push_back(Point2f(pattern));
//out_pattern = 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; // 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)))); Point3d Q = Point3d(Mat(H*Mat(Point3d(p.x , p.y , 1.0))));
q = cv::Point2f(Q.x/Q.z ,Q.y/Q.z); q = Point2f(Q.x/Q.z ,Q.y/Q.z);
// jiuzheng // jiuzheng
// q.y += 118; // q.y += 118;
pcorners.push_back(q); pcorners.push_back(q);
@@ -159,15 +159,15 @@ CalibrationData* Calibrator::calibrate()
count++; count++;
} }
} }
std::vector<cv::Point3f> world_corners; std::vector<Point3f> world_corners;
for (int h=0; h<board_size.height; h++) for (int h=0; h<board_size.height; h++)
{ {
for (int w=0; w<board_size.width; w++) 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); objectPoints.reserve(count);
for (unsigned i=0; i<count; i++) for (unsigned i=0; i<count; i++)
{ {
@@ -175,16 +175,16 @@ CalibrationData* Calibrator::calibrate()
} }
//generate world object coordinates //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 h=0; h<board_size.height; h++)
{ {
for (int w=0; w<board_size.width; w++) 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); objectPoints_p.reserve(count);
for (unsigned i=0; i<count; i++) for (unsigned i=0; i<count; i++)
{ {
@@ -196,48 +196,48 @@ CalibrationData* Calibrator::calibrate()
pattern_list.resize(count); pattern_list.resize(count);
int cal_flags = 0 int cal_flags = 0
//+ cv::CALIB_FIX_K1 //+ CALIB_FIX_K1
//+ cv::CALIB_FIX_K2 //+ CALIB_FIX_K2
//+ cv::CALIB_ZERO_TANGENT_DIST //+ CALIB_ZERO_TANGENT_DIST
+ cv::CALIB_FIX_K3 + CALIB_FIX_K3
; ;
//calibrate the camera //////////////////////////////////// //calibrate the camera ////////////////////////////////////
std::vector<cv::Mat> cam_rvecs , cam_tvecs; std::vector<Mat> cam_rvecs , cam_tvecs;
int cam_flags = cal_flags; int cam_flags = cal_flags;
cv::Size imageSize = frameSeqs[0][0].size(); Size imageSize = frameSeqs[0][0].size();
res->cam_error = cv::calibrateCamera(objectPoints , board_corners , imageSize , res->Kc , res->kc ,cam_rvecs , cam_tvecs); res->cam_error = calibrateCamera(objectPoints , board_corners , imageSize , res->Kc , res->kc ,cam_rvecs , cam_tvecs);
std::cout<<"calibrate the camera !"<<std::endl; std::cout<<"calibrate the camera !"<<std::endl;
//calibrate the projector //////////////////////////////////// //calibrate the projector ////////////////////////////////////
std::vector<cv::Mat> proj_rvecs , proj_tvecs; std::vector<Mat> proj_rvecs , proj_tvecs;
int proj_flags = cal_flags; int proj_flags = cal_flags;
cv::Size projector_size(912, 1140); Size projector_size(912, 1140);
res->proj_error = cv::calibrateCamera(objectPoints_p , projector_corners, projector_size , res->Kp , res->kp , proj_rvecs , proj_tvecs); 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; std::cout<<"calibrate the projector !"<<std::endl;
//stereo calibration //stereo calibration
cv::Mat E, F; Mat E, F;
res->stereo_error = cv::stereoCalibrate(objectPoints , board_corners , projector_corners , res->stereo_error = stereoCalibrate(objectPoints , board_corners , projector_corners ,
res->Kc , res->kc , res->Kp ,res->kp ,imageSize /*ignored*/ , res->Kc , res->kc , res->Kp ,res->kp ,imageSize /*ignored*/ ,
res->Rp , res->Tp , E , F ); 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 , // 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 ,
// cv::TermCriteria(cv::TermCriteria::COUNT + cv::TermCriteria::EPS ,50 ,DBL_EPSILON) , // TermCriteria(TermCriteria::COUNT + TermCriteria::EPS ,50 ,DBL_EPSILON) ,
// cv::CALIB_FIX_INTRINSIC /*cv::CALIB_USE_INTRINSIC_GUESS + cal_flags*/); // CALIB_FIX_INTRINSIC /*CALIB_USE_INTRINSIC_GUESS + cal_flags*/);
std::cout<<"stereo calibration !"<<std::endl; std::cout<<"stereo calibration !"<<std::endl;
cv::FileStorage fsc("rtc.xml", cv::FileStorage::WRITE); FileStorage fsc("rtc.xml", FileStorage::WRITE);
cv::FileStorage fsp("rtp.xml", cv::FileStorage::WRITE); FileStorage fsp("rtp.xml", FileStorage::WRITE);
// objectPoints projector_corners board_corners // objectPoints projector_corners board_corners
std::ofstream opout("objectPoints.txt"); std::ofstream opout("objectPoints.txt");
std::ofstream pcout("projector_corners.txt"); std::ofstream pcout("projector_corners.txt");
std::ofstream ccout("board_corners.txt"); std::ofstream ccout("board_corners.txt");
for (int i = 0; i < objectPoints.size(); i++) { for (int i = 0; i < objectPoints.size(); i++) {
fsc << "R" + std::to_string(i) << cv::Mat(cam_rvecs[i]); fsc << "R" + std::to_string(i) << Mat(cam_rvecs[i]);
fsc << "T" + std::to_string(i) << cv::Mat(cam_tvecs[i]); fsc << "T" + std::to_string(i) << Mat(cam_tvecs[i]);
fsp << "R" + std::to_string(i) << cv::Mat(proj_rvecs[i]); fsp << "R" + std::to_string(i) << Mat(proj_rvecs[i]);
fsp << "T" + std::to_string(i) << cv::Mat(proj_tvecs[i]); fsp << "T" + std::to_string(i) << Mat(proj_tvecs[i]);
for (int j = 0; j < objectPoints[i].size(); j++) { for (int j = 0; j < objectPoints[i].size(); j++) {
opout << objectPoints[i][j] << std::endl; opout << objectPoints[i][j] << std::endl;
pcout << projector_corners[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; int image_scale = 1;
if (gray_image.rows<1) if (gray_image.rows<1)
{ {
return corners; return corners;
} }
cv::Size imageSize = gray_image.size(); Size imageSize = gray_image.size();
if (imageSize.width>1024) if (imageSize.width>1024)
{ {
image_scale = imageSize.width/1024; image_scale = imageSize.width/1024;
} }
cv::Mat small_img; Mat small_img;
if (image_scale>1) 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 else
{ {
@@ -279,27 +279,27 @@ std::vector<cv::Point2f> Calibrator::extract_board_corners(cv::Mat &gray_image)
} }
if(board_type == Chessboard) { if(board_type == Chessboard) {
cv::findChessboardCorners(small_img, board_size, corners); findChessboardCorners(small_img, board_size, corners);
} }
else if(board_type == Circular) { else if(board_type == Circular) {
cv::findCirclesGrid(small_img, board_size, corners); findCirclesGrid(small_img, board_size, corners);
} }
if (corners.size()) 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); *iter = image_scale*(*iter);
} }
cv::cornerSubPix(gray_image , corners , cv::Size(11 , 11) , cv::Size(-1 , -1) , cornerSubPix(gray_image , corners , Size(11 , 11) , Size(-1 , -1) ,
cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::MAX_ITER, 30 , 0.1)); TermCriteria(TermCriteria::EPS + TermCriteria::MAX_ITER, 30 , 0.1));
} }
return corners; 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()) if (ind >= frameSeqs.size())
{ //out of bounds { //out of bounds
@@ -308,7 +308,7 @@ bool Calibrator::decode_gray_set(int ind , cv::Mat & pattern_image, cv::Mat & m
//estimate direct component //estimate direct component
//b = config.value("robust_estimation/b" DEFAULT_B).toFloat(); //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); // QList<unsigned> direct_component_images(QList<unsigned>() << 15 << 16 << 17 << 18 << 35 << 36 << 37 << 38);
int total_images = frameSeqs[ind].size(); int total_images = frameSeqs[ind].size();
int total_patterns = total_images/2 - 1; 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]); 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(); //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); // 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); bool rv = sl::decode_pattern(frameSeqs[ind], pattern_image, min_max_image, projector_size, sl::RobustDecode|sl::GrayPatternDecode, direct_light, m);
return rv; return rv;
} }

3
Classes/MyThread.cpp
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@@ -13,6 +13,9 @@ void MyThread::run()
io::loadPCDFile(pcd, *cloudPtr); io::loadPCDFile(pcd, *cloudPtr);
cloud = *cloudPtr; cloud = *cloudPtr;
} }
auto pclData = PointCloudData::getInstance(cloud);
pclData->setCloud(cloud);
} }

1
Classes/MyThread.h
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@@ -3,6 +3,7 @@
#include <qthread.h> #include <qthread.h>
#include <pcl/point_types.h> #include <pcl/point_types.h>
#include <pcl/io/vtk_lib_io.h> #include <pcl/io/vtk_lib_io.h>
#include "PointCloudData.h"
using namespace std; using namespace std;
using namespace pcl; using namespace pcl;

70
Classes/PointCloudData.cpp Normal file
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@@ -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++;
}

35
Classes/PointCloudData.h Normal file
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@@ -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();
};

109
Classes/Reconstruction.cpp
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@@ -134,42 +134,98 @@ void Reconstruction::on_pushButton_3_clicked()
#pragma endregion #pragma endregion
#pragma region 多线程 #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() void Reconstruction::setCloud()
{ {
cout << cloud.width; cout << cloud.width;
ui.label_9->setVisible(false); ui.label_9->setVisible(false);
if(loadingStatus) if (loadingStatus)
{ {
cloud = t->getCloud(); cloud = t->getCloud();
loadingStatus = false; loadingStatus = false;
} }
if(reconstructStatus) if (reconstructStatus)
{ {
reconstructStatus = false; reconstructStatus = false;
} }
cout << cloud[0].r; cout << cloud[0].r;
updateQVTK(cloud, color); updateQVTK(cloud, color);
} }
void Reconstruction::updateQVTK(PointCloud<PointXYZRGB> cloud, QColor color) void Reconstruction::updateQVTK(PointCloud<PointXYZRGB> cloud, QColor color)
{ {
boost::shared_ptr<visualization::PCLVisualizer> viewer(new visualization::PCLVisualizer("3D Viewer")); boost::shared_ptr<visualization::PCLVisualizer> viewer;
viewer->setBackgroundColor(0.458, 0.529, 0.844); visualization::Camera camera;
viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud"); 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) if (cloud.size() != 0)
{ {
PointCloud<PointXYZRGB>::Ptr cloudPtr(new PointCloud<PointXYZRGB>); PointCloud<PointXYZRGB>::Ptr cloudPtr(new PointCloud<PointXYZRGB>);
cloudPtr = cloud.makeShared(); cloudPtr = cloud.makeShared();
int x = int(color.redF() * 255); int x = int(color.redF() * 255);
int y = int(color.greenF() * 255); int y = int(color.greenF() * 255);
int z = int(color.blueF() * 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->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->SetRenderWindow(viewer->getRenderWindow());
ui.qvtkWidget->update(); ui.qvtkWidget->update();
@@ -562,7 +618,7 @@ void Reconstruction::on_pushButton_10_clicked()
screen->grabWindow(ui.label_21->winId()).save(fileName); screen->grabWindow(ui.label_21->winId()).save(fileName);
// QImage iim(picPath); //创建一个图片对象,存储源图片 // 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 // 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 // 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; QMessageBox mesg;
mesg.warning(this, "WARNING", "Haven't taken picture!"); mesg.warning(this, "WARNING", "Haven't taken picture!");
} }
} }
// 开始重建 // 开始重建
@@ -610,15 +665,31 @@ void Reconstruction::on_pushButton_11_clicked()
void Reconstruction::on_pushButton_12_clicked() void Reconstruction::on_pushButton_12_clicked()
{ {
// todo 异常点剔除 // 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 // 导入点云
void Reconstruction::on_pushButton_13_clicked() void Reconstruction::on_pushButton_13_clicked()
{ {
if (loadingStatus) if (loadingStatus || reconstructStatus)
{ {
QMessageBox mesg; QMessageBox mesg;
mesg.warning(this, "WARNING", "正在加载… "); mesg.warning(this, "WARNING", "There is a Point Cloud Loading.");
return; return;
} }
@@ -632,7 +703,11 @@ void Reconstruction::on_pushButton_13_clicked()
mesg.warning(this, "WARNING", "Failed to open file"); mesg.warning(this, "WARNING", "Failed to open file");
return; 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); ui.label_9->setVisible(true);
QCoreApplication::processEvents(); QCoreApplication::processEvents();
t->setPcd(fileName); t->setPcd(fileName);
@@ -667,8 +742,10 @@ void Reconstruction::on_pushButton_15_clicked()
// 颜色选取 // 颜色选取
void Reconstruction::on_pushButton_16_clicked() void Reconstruction::on_pushButton_16_clicked()
{ {
auto pclData = PointCloudData::getInstance(cloud);
QColor colortmp = QColorDialog::getColor(Qt::black); QColor colortmp = QColorDialog::getColor(Qt::black);
if (colortmp.isValid()) { if (colortmp.isValid())
{
color = colortmp; color = colortmp;
updateQVTK(cloud, color); updateQVTK(cloud, color);
} }

1
Classes/Reconstruction.h
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@@ -27,6 +27,7 @@
#include "CoreAlgorithm.h" #include "CoreAlgorithm.h"
#include "MyThread.h" #include "MyThread.h"
#include "YourThread.h" #include "YourThread.h"
#include "PointCloudData.h"
#include "Help.h" #include "Help.h"
#include <iostream> #include <iostream>
using namespace pcl; using namespace pcl;

3
Classes/YourThread.cpp
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@@ -63,4 +63,7 @@ void YourThread::run()
cloud->points[i].z = coordinates[index].at<float>(0, 2); cloud->points[i].z = coordinates[index].at<float>(0, 2);
index++; index++;
} }
auto pclData = PointCloudData::getInstance(*cloud);
pclData->setCloud(*cloud);
} }

1
Classes/YourThread.h
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@@ -4,6 +4,7 @@
#include <pcl/point_types.h> #include <pcl/point_types.h>
#include <pcl/io/vtk_lib_io.h> #include <pcl/io/vtk_lib_io.h>
#include "CoreAlgorithm.h" #include "CoreAlgorithm.h"
#include "PointCloudData.h"
using namespace std; using namespace std;
using namespace pcl; using namespace pcl;

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2
Reconstruction.vcxproj
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@@ -131,6 +131,7 @@
<ClCompile Include="Classes\log2.cpp" /> <ClCompile Include="Classes\log2.cpp" />
<ClCompile Include="Classes\main.cpp" /> <ClCompile Include="Classes\main.cpp" />
<ClCompile Include="Classes\MyThread.cpp" /> <ClCompile Include="Classes\MyThread.cpp" />
<ClCompile Include="Classes\PointCloudData.cpp" />
<ClCompile Include="Classes\ProjectorLC4500.cpp" /> <ClCompile Include="Classes\ProjectorLC4500.cpp" />
<ClCompile Include="Classes\Reconstruction.cpp" /> <ClCompile Include="Classes\Reconstruction.cpp" />
<ClCompile Include="Classes\rtGetInf.cpp" /> <ClCompile Include="Classes\rtGetInf.cpp" />
@@ -156,6 +157,7 @@
<ClInclude Include="Classes\Camera.h" /> <ClInclude Include="Classes\Camera.h" />
<ClInclude Include="Classes\CameraPointGrey.h" /> <ClInclude Include="Classes\CameraPointGrey.h" />
<ClInclude Include="Classes\CameraArguments.h" /> <ClInclude Include="Classes\CameraArguments.h" />
<ClInclude Include="Classes\PointCloudData.h" />
<ClInclude Include="Classes\YourThread.h" /> <ClInclude Include="Classes\YourThread.h" />
<QtMoc Include="Classes\Loading.h" /> <QtMoc Include="Classes\Loading.h" />
<QtMoc Include="Classes\DisplayPic.h" /> <QtMoc Include="Classes\DisplayPic.h" />

21
Reconstruction.vcxproj.filters
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@@ -59,6 +59,9 @@
<Filter Include="src\reconstruction\projector"> <Filter Include="src\reconstruction\projector">
<UniqueIdentifier>{762af5a3-10df-4dc7-8ce8-ed2501d9eb12}</UniqueIdentifier> <UniqueIdentifier>{762af5a3-10df-4dc7-8ce8-ed2501d9eb12}</UniqueIdentifier>
</Filter> </Filter>
<Filter Include="src\reconstruction\pointcloud">
<UniqueIdentifier>{cdf9f84f-4a3a-4fc8-b596-038eb3990675}</UniqueIdentifier>
</Filter>
</ItemGroup> </ItemGroup>
<ItemGroup> <ItemGroup>
<QtUic Include="UI\Reconstruction.ui"> <QtUic Include="UI\Reconstruction.ui">
@@ -81,9 +84,6 @@
<ClCompile Include="Classes\Reconstruction.cpp"> <ClCompile Include="Classes\Reconstruction.cpp">
<Filter>src</Filter> <Filter>src</Filter>
</ClCompile> </ClCompile>
<ClCompile Include="Classes\CameraArguments.cpp">
<Filter>src\reconstruction</Filter>
</ClCompile>
<ClCompile Include="Classes\Loading.cpp"> <ClCompile Include="Classes\Loading.cpp">
<Filter>src\scene\loadingscene</Filter> <Filter>src\scene\loadingscene</Filter>
</ClCompile> </ClCompile>
@@ -198,6 +198,12 @@
<ClCompile Include="Classes\YourThread.cpp"> <ClCompile Include="Classes\YourThread.cpp">
<Filter>src\scene\mainscene</Filter> <Filter>src\scene\mainscene</Filter>
</ClCompile> </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>
<ItemGroup> <ItemGroup>
<QtMoc Include="Classes\Reconstruction.h"> <QtMoc Include="Classes\Reconstruction.h">
@@ -219,9 +225,6 @@
</QtRcc> </QtRcc>
</ItemGroup> </ItemGroup>
<ItemGroup> <ItemGroup>
<ClInclude Include="Classes\CameraArguments.h">
<Filter>src\reconstruction</Filter>
</ClInclude>
<ClInclude Include="Classes\cwt_emxAPI.h"> <ClInclude Include="Classes\cwt_emxAPI.h">
<Filter>src\reconstruction\cwt</Filter> <Filter>src\reconstruction\cwt</Filter>
</ClInclude> </ClInclude>
@@ -345,5 +348,11 @@
<ClInclude Include="Classes\YourThread.h"> <ClInclude Include="Classes\YourThread.h">
<Filter>src\scene\mainscene</Filter> <Filter>src\scene\mainscene</Filter>
</ClInclude> </ClInclude>
<ClInclude Include="Classes\CameraArguments.h">
<Filter>src\reconstruction\calibrator</Filter>
</ClInclude>
<ClInclude Include="Classes\PointCloudData.h">
<Filter>src\reconstruction\pointcloud</Filter>
</ClInclude>
</ItemGroup> </ItemGroup>
</Project> </Project>

152
et --soft HEAD^q
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@@ -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

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@@ -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\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\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\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 Reconstruction.vcxproj -> D:\BJTU\Reconstruction\x64\Debug\Reconstruction.exe

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