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v1.9 add keyboard event rotation by left and right

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This commit is contained in:
Tang1705
2020-06-06 12:55:52 +08:00
parent a0caac5e8e
commit db133123df
21 changed files with 338 additions and 43 deletions
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98
Classes/Reconstruction.cpp
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@@ -40,6 +40,71 @@ void pp_callback(const visualization::AreaPickingEvent& event, void* args)
}
}
// Returns the rotation matrix around a vector placed at a point , rotate by angle t
Eigen::Matrix4f rot_mat(const Eigen::Vector3f& point, const Eigen::Vector3f& vector, const float t)
{
float u = vector(0);
float v = vector(1);
float w = vector(2);
float a = point(0);
float b = point(1);
float c = point(2);
Eigen::Matrix4f matrix;
matrix << u * u + (v * v + w * w) * cos(t), u * v * (1 - cos(t)) - w * sin(t), u * w * (1 - cos(t)) + v * sin(t), (a
* (v * v + w * w) - u * (b * v + c * w)) * (1 - cos(t)) + (b * w - c * v) * sin(t),
u * v * (1 - cos(t)) + w * sin(t), v * v + (u * u + w * w) * cos(t), v * w * (1 - cos(t)) - u * sin(t), (b * (u
* u + w * w) - v * (a * u + c * w)) * (1 - cos(t)) + (c * u - a * w) * sin(t),
u * w * (1 - cos(t)) - v * sin(t), v * w * (1 - cos(t)) + u * sin(t), w * w + (u * u + v * v) * cos(t), (c * (u
* u + v * v) - w * (a * u + b * v)) * (1 - cos(t)) + (a * v - b * u) * sin(t),
0, 0, 0, 1;
return matrix;
}
void keyboardEventOccurred(const visualization::KeyboardEvent& event, void* nothing)
{
PointCloud<PointXYZRGB>::Ptr transformed_cloud(new PointCloud<PointXYZRGB>());
auto pclData = PointCloudData::getInstance();
PointCloud<PointXYZRGB>::Ptr cloudPtr(new PointCloud<PointXYZRGB>);
cloudPtr = pclData->getCloud().makeShared();
Eigen::Vector3f point(pclData->getXAxis(), 0, pclData->getZAxis());
Eigen::Vector3f vector(0, 1, 0);
Eigen::Matrix4f transform = Eigen::Matrix4f::Identity();
if ((event.getKeySym() == "Right" || event.getKeySym() == "Left") && event.keyDown())
{
if (event.getKeySym() == "Right")
{
float theta = -M_PI / 36; // 弧度角
// Z 轴上旋转 theta 弧度
transform = rot_mat(point, vector, theta);
}
else if (event.getKeySym() == "Left")
{
float theta = M_PI / 36; // 弧度角
// Z 轴上旋转 theta 弧度
transform = rot_mat(point, vector, theta);
}
transformPointCloud(*cloudPtr, *transformed_cloud, transform);
pclData->getViewer()->removeAllPointClouds();
auto color = pclData->getColor();
auto x = int(color.redF() * 255);
auto y = int(color.greenF() * 255);
auto z = int(color.blueF() * 255);
double size = 1;
visualization::PointCloudColorHandlerCustom<PointXYZRGB> cloud_color(transformed_cloud, x, y, z); // 统一处理点云颜色
pclData->getViewer()->addPointCloud(transformed_cloud, cloud_color, "cloud");
pclData->getViewer()->
setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, size, "cloud");
pclData->getUI().qvtkWidget->SetRenderWindow(pclData->getViewer()->getRenderWindow());
pclData->getUI().qvtkWidget->update();
pclData->setCloud(*transformed_cloud);
}
}
Reconstruction::Reconstruction(QWidget* parent)
: QMainWindow(parent)
{
@@ -66,7 +131,7 @@ void Reconstruction::setStyle()
QAction* quitAction = ui.menuBar->addAction(tr("Exit"), this, SLOT(close()));
quitAction->setShortcut(QKeySequence(Qt::CTRL | Qt::Key_Q));
this->setContentsMargins(0, 0, 0, 0);
// this->setFixedSize(1240, 680);
// ui.centralWidget->setGeometry(0, 40, 1240, 680);
@@ -209,12 +274,20 @@ void Reconstruction::setCloud()
if (loadingStatus)
{
cloud = t->getCloud();
auto pclData = PointCloudData::getInstance(cloud);
PointXYZRGB minPt, maxPt;
getMinMax3D(cloud, minPt, maxPt);
pclData->setAxises((minPt.x + maxPt.x) / 2, (minPt.z + maxPt.z) / 2);
loadingStatus = false;
}
if (reconstructStatus)
{
reconstructStatus = false;
auto pclData = PointCloudData::getInstance(cloud);
PointXYZRGB minPt, maxPt;
getMinMax3D(cloud, minPt, maxPt);
pclData->setAxises((minPt.x + maxPt.x) / 2, (minPt.z + maxPt.z) / 2);
}
cout << cloud[0].r;
@@ -237,16 +310,19 @@ void Reconstruction::updateQVTK(PointCloud<PointXYZRGB> cloud, QColor color)
if (cloud.size() != 0)
{
pclData->getViewer()->getInteractorStyle()->getCameraParameters(camera);
if(location)
if (location)
{
viewer->setCameraParameters(camera);
pclData->getViewer()->getPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, size, "cloud");
}else
pclData->getViewer()->getPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, size,
"cloud");
}
else
{
location = true;
}
}
viewer->registerAreaPickingCallback(pp_callback, (void*)&cloud);
viewer->registerKeyboardCallback(&keyboardEventOccurred, (void*)NULL);
pclData->setViewer(viewer);
}
@@ -256,12 +332,13 @@ void Reconstruction::updateQVTK(PointCloud<PointXYZRGB> cloud, QColor color)
viewer->setBackgroundColor(0.458, 0.529, 0.844);
viewer->initCameraParameters();
viewer->registerAreaPickingCallback(pp_callback, (void*)&cloud);
viewer->registerKeyboardCallback(&keyboardEventOccurred, (void*)NULL);
auto pclData = PointCloudData::getInstance(cloud);
pclData->setViewer(viewer);
pclData->setUI(ui);
}
viewer->removeAllPointClouds();
if (cloud.size() != 0)
{
@@ -608,7 +685,7 @@ void Reconstruction::on_pushButton_4_clicked()
return;
}
QTextCodec* code = QTextCodec::codecForName("GB2312");//解决中文路径问题
QTextCodec* code = QTextCodec::codecForName("GB2312"); //解决中文路径问题
auto name = code->fromUnicode(fileName).data();
ui.lineEdit->setText(fileName);
td->setPath(name);
@@ -715,6 +792,7 @@ void Reconstruction::on_pushButton_12_clicked()
{
auto pclData = PointCloudData::getInstance();
auto indices = pclData->getIndices();
cloud = pclData->getCloud();
for (auto i = 0; i < indices.size(); ++i)
{
auto index = cloud.begin() + (indices[i] - i);
@@ -747,7 +825,7 @@ void Reconstruction::on_pushButton_13_clicked()
mesg.warning(this, "WARNING", "Failed to open file");
return;
}
cloud.clear();
location = false;
ui.label_9->setVisible(true);
@@ -765,7 +843,7 @@ void Reconstruction::on_pushButton_14_clicked()
if (!fileName.isNull())
{
QTextCodec* code = QTextCodec::codecForName("GB2312");//解决中文路径问题
QTextCodec* code = QTextCodec::codecForName("GB2312"); //解决中文路径问题
auto name = code->fromUnicode(fileName).data();
if (QString::fromStdString(name).endsWith(".pcd", Qt::CaseInsensitive))
io::savePCDFileBinary(name, cloud);
@@ -791,6 +869,8 @@ void Reconstruction::on_pushButton_16_clicked()
{
color = colortmp;
updateQVTK(cloud, color);
auto pclData = PointCloudData::getInstance();
pclData->setColor(color);
}
}
@@ -811,4 +891,4 @@ void Reconstruction::about()
aboutDialog->setWindowModality(Qt::ApplicationModal);
aboutDialog->setWindowTitle(QString::fromLocal8Bit("关于"));
aboutDialog->show();
}
}