shen/Happy-Reconstruction
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modify some details and there is a small defect

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This commit is contained in:
Tang1705
2020-05-21 12:29:59 +08:00
parent bde3ce178e
commit dab2be5de2
10 changed files with 50 additions and 9 deletions
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26
Classes/Reconstruction.cpp
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@@ -115,6 +115,10 @@ void Reconstruction::on_pushButton_clicked()
void Reconstruction::on_pushButton_2_clicked()
{
if (device->getHasCamera())
{
liveViewTimer = startTimer(100);
}
ui.stackedWidget->setCurrentIndex(1);
}
@@ -155,17 +159,17 @@ void pp_callback(const visualization::AreaPickingEvent& event, void* args)
std::stringstream ss;
std::string cloudName;
pclData->setNum();
ss <<num++;
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()->
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()
@@ -197,20 +201,21 @@ void Reconstruction::updateQVTK(PointCloud<PointXYZRGB> cloud, QColor color)
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] <<
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 = viewerArg;
viewer->setBackgroundColor(0.458, 0.529, 0.844);
auto pclData = PointCloudData::getInstance(cloud);
pclData->setViewer(viewer);
pclData->setUI(ui);
}
double size=1;
double size = 1;
viewer->getPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, size, "cloud");
viewer->removeAllPointClouds();
// viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
@@ -410,9 +415,13 @@ void Reconstruction::timerEvent(QTimerEvent* event)
// correct size only if label has no borders/frame!
auto w = ui.label_11->width();
auto h = ui.label_11->height();
auto pixmap = QPixmap::fromImage(qimage);
ui.label_11->setPixmap(pixmap.scaled(w, h, Qt::KeepAspectRatio));
w = ui.label_21->width();
h = ui.label_21->height();
pixmap = QPixmap::fromImage(qimage);
ui.label_21->setPixmap(pixmap.scaled(w, h, Qt::KeepAspectRatio));
}
void Reconstruction::setDirModel(const QString& dirname)
@@ -556,6 +565,8 @@ void Reconstruction::on_pushButton_4_clicked()
ui.lineEdit->setText(fileName);
// 投影结构光图案
device->getProjector()->displayPattern(44);
// todo 接着进行投影操作
}
@@ -563,6 +574,7 @@ void Reconstruction::on_pushButton_4_clicked()
void Reconstruction::on_pushButton_9_clicked()
{
// todo 相机拍照
killTimer(liveViewTimer);
auto frame = device->getCamera()->getFrame();
auto frameCV = cvtools::camFrame2Mat(frame);
// cvtColor(frameCV, frameCV, cv::COLOR_BGR2GRAY);