909 lines
25 KiB
C++
909 lines
25 KiB
C++
#include "Reconstruction.h"
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#include "MyThread.h"
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#include "YourThread.h"
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# pragma region 点云回调
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// 点云框选回调函数
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void pp_callback(const visualization::AreaPickingEvent& event, void* args)
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{
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auto pclData = PointCloudData::getInstance();
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PointCloud<PointXYZRGB>::Ptr cloudPtr(new PointCloud<PointXYZRGB>);
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cloudPtr = pclData->getCloud().makeShared();
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auto num = pclData->getNum();
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std::vector<int> indices;
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if (event.getPointsIndices(indices) == -1)
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return;
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// cout << indices.size() << "\n";
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PointCloud<PointXYZRGB>::Ptr clicked_points_3d(new PointCloud<PointXYZRGB>);
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if (indices.size() > 0)
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{
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for (auto i = 0; i < indices.size(); ++i)
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{
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clicked_points_3d->points.push_back(cloudPtr->points.at(indices[i]));
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}
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visualization::PointCloudColorHandlerCustom<PointXYZRGB> red(clicked_points_3d, 255, 0, 0);
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std::stringstream ss;
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std::string cloudName;
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pclData->setNum();
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ss << num++;
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ss >> cloudName;
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cloudName += "_cloudName";
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pclData->getViewer()->addPointCloud(clicked_points_3d, red, cloudName);
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pclData->getViewer()->
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setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 10, cloudName);
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// pclData->getViewer()->updatePointCloud(clicked_points_3d,"cloudName");
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pclData->setIndices(indices);
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pclData->getUI().qvtkWidget->SetRenderWindow(pclData->getViewer()->getRenderWindow());
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pclData->getUI().qvtkWidget->update();
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}
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}
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// Returns the rotation matrix around a vector placed at a point , rotate by angle t
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Eigen::Matrix4f rot_mat(const Eigen::Vector3f& point, const Eigen::Vector3f& vector, const float t)
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{
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float u = vector(0);
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float v = vector(1);
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float w = vector(2);
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float a = point(0);
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float b = point(1);
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float c = point(2);
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Eigen::Matrix4f matrix;
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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
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* (v * v + w * w) - u * (b * v + c * w)) * (1 - cos(t)) + (b * w - c * v) * sin(t),
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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
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* u + w * w) - v * (a * u + c * w)) * (1 - cos(t)) + (c * u - a * w) * sin(t),
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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
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* u + v * v) - w * (a * u + b * v)) * (1 - cos(t)) + (a * v - b * u) * sin(t),
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0, 0, 0, 1;
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return matrix;
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}
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void keyboardEventOccurred(const visualization::KeyboardEvent& event, void* nothing)
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{
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PointCloud<PointXYZRGB>::Ptr transformed_cloud(new PointCloud<PointXYZRGB>());
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auto pclData = PointCloudData::getInstance();
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PointCloud<PointXYZRGB>::Ptr cloudPtr(new PointCloud<PointXYZRGB>);
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cloudPtr = pclData->getCloud().makeShared();
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Eigen::Vector3f point(pclData->getXAxis(), 0, pclData->getZAxis());
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Eigen::Vector3f vector(0, 1, 0);
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Eigen::Matrix4f transform = Eigen::Matrix4f::Identity();
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if ((event.getKeySym() == "Right" || event.getKeySym() == "Left") && event.keyDown())
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{
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if (event.getKeySym() == "Right")
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{
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float theta = -M_PI / 36; // 弧度角
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// Z 轴上旋转 theta 弧度
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transform = rot_mat(point, vector, theta);
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}
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else if (event.getKeySym() == "Left")
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{
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float theta = M_PI / 36; // 弧度角
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// Z 轴上旋转 theta 弧度
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transform = rot_mat(point, vector, theta);
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}
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transformPointCloud(*cloudPtr, *transformed_cloud, transform);
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auto color = pclData->getColor();
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auto x = int(color.redF() * 255);
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auto y = int(color.greenF() * 255);
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auto z = int(color.blueF() * 255);
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double size = 1;
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pclData->getViewer()->getPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, size,
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"cloud");
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pclData->getViewer()->removeAllPointClouds();
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visualization::PointCloudColorHandlerCustom<PointXYZRGB> cloud_color(transformed_cloud, x, y, z); // 统一处理点云颜色
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pclData->getViewer()->addPointCloud(transformed_cloud, cloud_color, "cloud");
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pclData->getViewer()->
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setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, size, "cloud");
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pclData->getUI().qvtkWidget->SetRenderWindow(pclData->getViewer()->getRenderWindow());
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pclData->getUI().qvtkWidget->update();
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pclData->setCloud(*transformed_cloud);
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}
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}
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# pragma endregion
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Reconstruction::Reconstruction(QWidget* parent)
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: QMainWindow(parent)
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{
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ui.setupUi(this);
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this->setWindowIcon(QIcon(":/icon/image/common/icon.png"));
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calibData = new CalibrationData();
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calibrator = new Calibrator();
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dirModel = new TreeModel(this);
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td = new YourThread(&cloud);
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t = new MyThread;
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htd = new HisThread(&cloud, &mesh);
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connect(td, SIGNAL(finished()), this, SLOT(setCloud()));
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connect(t, SIGNAL(finished()), this, SLOT(setCloud()));
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connect(htd, SIGNAL(finished()), this, SLOT(setCloud()));
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device = Device::getInstance();
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setStyle();
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}
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#pragma region Style
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void Reconstruction::setStyle()
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{
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QAction* aboutAction = ui.menuBar->addAction(tr("About"), this, SLOT(about()));
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aboutAction->setShortcut(QKeySequence(Qt::CTRL | Qt::Key_A));
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QAction* quitAction = ui.menuBar->addAction(tr("Exit"), this, SLOT(close()));
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quitAction->setShortcut(QKeySequence(Qt::CTRL | Qt::Key_Q));
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this->setContentsMargins(0, 0, 0, 0);
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// this->setFixedSize(1240, 680);
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// ui.centralWidget->setGeometry(0, 40, 1240, 680);
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ui.centralWidget->show();
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// qss
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QFile file(":/qss/qss/flat.qss");
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file.open(QFile::ReadOnly);
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QTextStream filetext(&file);
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QString stylesheet = filetext.readAll();
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this->setStyleSheet(stylesheet);
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file.close();
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QPalette palette1;
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palette1.setColor(QPalette::Background, qRgba(62, 71, 128, 100)); //左侧
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ui.widget->setPalette(palette1);
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QPalette palette2;
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palette2.setColor(QPalette::Background, qRgba(255, 255, 255, 100)); //白色
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// palette2.setColor(QPalette::Background, qRgba(204, 213, 240, 100)); //背景
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ui.stackedWidget->setPalette(palette2);
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ui.stackedWidget->setCurrentIndex(0);
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setPicStyle();
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setButtonStyle();
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}
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void Reconstruction::setPicStyle()
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{
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ui.label_9->setPixmap(QPixmap(":/icon/image/reconstruction/loading.png"));
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if (device->getHasCamera())
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{
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auto w = ui.label_11->width();
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auto h = ui.label_11->height();
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Mat blackImg(h, w, CV_8UC1, cv::Scalar::all(0));
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QImage qimage = cvtools::cvMat2qImage(blackImg);
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QPixmap pixmap = QPixmap::fromImage(qimage);
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ui.label_11->setPixmap(pixmap.scaled(w, h, Qt::KeepAspectRatio));
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liveViewTimer = startTimer(100);
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}
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else
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{
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ui.label_11->setPixmap(QPixmap(":/icon/image/calibration/novideo.png"));
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ui.pushButton_5->setEnabled(false);
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ui.pushButton_6->setEnabled(false);
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ui.pushButton_7->setEnabled(false);
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ui.pushButton_8->setEnabled(false);
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ui.pushButton_9->setEnabled(false);
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ui.pushButton_10->setEnabled(false);
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ui.pushButton_19->setEnabled(false);
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}
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ui.label_21->setPixmap(QPixmap(":/icon/image/projection/novideo.jpg"));
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}
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void Reconstruction::setButtonStyle()
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{
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QString buttonStyle = "QPushButton{background-color:white;color: black;}"
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"QPushButton:hover{background-color:#e5ebfb; color: black;}"
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"QPushButton:pressed{background-color:rgb(204,213,240);border - style: inset; }";
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ui.pushButton->setStyleSheet(buttonStyle);
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ui.pushButton_2->setStyleSheet(buttonStyle);
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ui.pushButton_3->setStyleSheet(buttonStyle);
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// 给Button添加图标
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ui.pushButton->setIcon(QIcon(":/icon/image/common/camera.png"));
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ui.pushButton_2->setIcon(QIcon(":/icon/image/common/projection.png"));
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ui.pushButton_3->setIcon(QIcon(":/icon/image/common/3D.png"));
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// 相机标定界面
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ui.pushButton_5->setIcon(QIcon(":/icon/image/calibration/pics.png"));
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ui.pushButton_6->setIcon(QIcon(":/icon/image/calibration/camera.png"));
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ui.pushButton_7->setIcon(QIcon(":/icon/image/calibration/cal.png"));
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ui.pushButton_8->setIcon(QIcon(":/icon/image/calibration/save.png"));
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// 图案投影界面
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ui.pushButton_4->setIcon(QIcon(":/icon/image/projection/file.png"));
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ui.pushButton_19->setIcon(QIcon(":/icon/image/projection/projector.png"));
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ui.pushButton_9->setIcon(QIcon(":/icon/image/projection/image.png"));
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ui.pushButton_10->setIcon(QIcon(":/icon/image/projection/save.png"));
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ui.pushButton_17->setIcon(QIcon(":/icon/image/projection/three_d.png"));
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// 三维重建界面
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ui.pushButton_13->setIcon(QIcon(":/icon/image/reconstruction/import.png"));
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ui.pushButton_14->setIcon(QIcon(":/icon/image/reconstruction/export.png"));
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ui.pushButton_15->setIcon(QIcon(":/icon/image/reconstruction/surface.png"));
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ui.pushButton_16->setIcon(QIcon(":/icon/image/reconstruction/color.png"));
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ui.pushButton_18->setIcon(QIcon(":/icon/image/reconstruction/help2.png"));
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}
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#pragma endregion
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#pragma region 界面菜单
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void Reconstruction::on_pushButton_clicked()
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{
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ui.stackedWidget->setCurrentIndex(0);
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// imgCount = 0;
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// dirModel = new TreeModel(this);
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// dirModel->clear();
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// ui.treeView->setModel(dirModel);
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// ui.stackedWidget->setCurrentIndex(0);
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}
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void Reconstruction::on_pushButton_2_clicked()
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{
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if (device->getHasCamera())
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{
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liveViewTimer = startTimer(100);
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}
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ui.stackedWidget->setCurrentIndex(1);
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}
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void Reconstruction::on_pushButton_3_clicked()
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{
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ui.stackedWidget->setCurrentIndex(2);
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updateQVTK(cloud, color);
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if (loadingStatus || reconstructStatus)
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{
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ui.label_9->setVisible(true);
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}
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else
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{
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ui.label_9->setVisible(false);
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}
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}
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#pragma endregion
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#pragma region 多线程
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void Reconstruction::setCloud()
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{
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ui.label_9->setVisible(false);
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if (possionStatus)
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{
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auto pclData = PointCloudData::getInstance(cloud);
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pclData->getViewer()->removeAllPointClouds();
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pclData->getViewer()->addPolygonMesh(mesh, "my");
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possionStatus = false;
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}
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else
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{
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if (loadingStatus)
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{
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cloud = t->getCloud();
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auto pclData = PointCloudData::getInstance(cloud);
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PointXYZRGB minPt, maxPt;
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getMinMax3D(cloud, minPt, maxPt);
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pclData->setAxises((minPt.x + maxPt.x) / 2, (minPt.z + maxPt.z) / 2);
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loadingStatus = false;
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}
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if (reconstructStatus)
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{
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reconstructStatus = false;
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auto pclData = PointCloudData::getInstance(cloud);
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PointXYZRGB minPt, maxPt;
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getMinMax3D(cloud, minPt, maxPt);
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pclData->setAxises((minPt.x + maxPt.x) / 2, (minPt.z + maxPt.z) / 2);
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}
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cout << cloud[0].r;
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updateQVTK(cloud, color);
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}
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}
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void Reconstruction::updateQVTK(PointCloud<PointXYZRGB> cloud, QColor color)
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{
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boost::shared_ptr<visualization::PCLVisualizer> viewer;
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visualization::Camera camera;
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double size = 1;
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if (PointCloudData::getInstance() != nullptr)
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{
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auto pclData = PointCloudData::getInstance();
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pclData->setCloud(cloud);
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// disable the window appear outside
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viewer.reset(new visualization::PCLVisualizer("3D Viewer", false));
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viewer->setBackgroundColor(0.458, 0.529, 0.844);
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if (cloud.size() != 0)
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{
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pclData->getViewer()->getInteractorStyle()->getCameraParameters(camera);
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if (location)
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{
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viewer->setCameraParameters(camera);
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pclData->getViewer()->getPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, size,
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"cloud");
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}
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else
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{
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location = true;
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}
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}
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viewer->registerAreaPickingCallback(pp_callback, (void*)&cloud);
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viewer->registerKeyboardCallback(&keyboardEventOccurred, (void*)NULL);
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pclData->setViewer(viewer);
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}
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else
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{
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viewer.reset(new visualization::PCLVisualizer("3D Viewer", false));
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viewer->setBackgroundColor(0.458, 0.529, 0.844);
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viewer->initCameraParameters();
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viewer->registerAreaPickingCallback(pp_callback, (void*)&cloud);
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viewer->registerKeyboardCallback(&keyboardEventOccurred, (void*)NULL);
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auto pclData = PointCloudData::getInstance(cloud);
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pclData->setViewer(viewer);
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pclData->setUI(ui);
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}
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viewer->removeAllPointClouds();
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if (cloud.size() != 0)
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{
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PointCloud<PointXYZRGB>::Ptr cloudPtr(new PointCloud<PointXYZRGB>);
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cloudPtr = cloud.makeShared();
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auto x = int(color.redF() * 255);
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auto y = int(color.greenF() * 255);
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auto z = int(color.blueF() * 255);
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visualization::PointCloudColorHandlerCustom<PointXYZRGB> cloud_color(cloudPtr, x, y, z); // 统一处理点云颜色
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viewer->addPointCloud(cloudPtr, cloud_color, "cloud");
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viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, size, "cloud");
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}
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ui.qvtkWidget->SetRenderWindow(viewer->getRenderWindow());
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// add control
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viewer->setupInteractor(ui.qvtkWidget->GetInteractor(), ui.qvtkWidget->GetRenderWindow());
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viewer->getInteractorStyle()->setKeyboardModifier(visualization::INTERACTOR_KB_MOD_SHIFT);
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ui.qvtkWidget->update();
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}
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#pragma endregion
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#pragma region 系统标定-按钮
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// 添加图像
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void Reconstruction::on_pushButton_5_clicked()
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{
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QString fileName = QFileDialog::getOpenFileName(
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this, tr("open multiple image file"),
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"./", tr("Image files(*.bmp *.jpg *.pbm *.pgm *.png *.ppm *.xbm *.xpm);;All files (*.*)")); // todo 文件类型待确认
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if (fileName.isEmpty())
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{
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QMessageBox mesg;
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mesg.warning(this, "WARNING", "Failed to open picture");
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return;
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}
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calPath = fileName;
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}
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// 相机拍摄
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void Reconstruction::on_pushButton_6_clicked()
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{
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killTimer(liveViewTimer);
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ui.pushButton_5->setEnabled(false);
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ui.pushButton_6->setEnabled(false);
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ui.pushButton_7->setEnabled(false);
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ui.pushButton_8->setEnabled(false);
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char path[100];
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sprintf(path, "calib%.2d", imgCount);
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fstools::mkDir(tr("./config/calib"), tr(path));
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device->getProjector()->displayPattern(0);
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Sleep(500);
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for (unsigned int i = 0; i < 44; i++)
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{
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// Project pattern
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device->getProjector()->displayPattern(i);
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Sleep(200);
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// Effectuate sleep (necessary with some camera implementations)
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QApplication::processEvents();
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// Aquire frame
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auto frame = device->getCamera()->getFrame();
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auto frameCV = cvtools::camFrame2Mat(frame);
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cvtColor(frameCV, frameCV, COLOR_BGR2GRAY);
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//parameter
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std::cout << cv::format("./config/calib/calib%.2d/%.2d.bmp", imgCount, i) << std::endl;
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imwrite(cv::format("./config/calib/calib%.2d/%.2d.bmp", imgCount, i), frameCV);
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auto qimage = cvtools::cvMat2qImage(frameCV);
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auto w = ui.label_11->width();
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auto h = ui.label_11->height();
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auto pixmap = QPixmap::fromImage(qimage);
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ui.label_11->setPixmap(pixmap.scaled(w, h, Qt::KeepAspectRatio));
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}
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imgCount++;
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liveViewTimer = startTimer(100);
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//parameter
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setDirModel(tr("./config/calib"));
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ui.treeView->setModel(dirModel);
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ui.pushButton_5->setEnabled(true);
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ui.pushButton_6->setEnabled(true);
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ui.pushButton_7->setEnabled(true);
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ui.pushButton_8->setEnabled(true);
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// if (calPath.isEmpty())
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// {
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// QMessageBox mesg;
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// mesg.warning(this, "WARNING", "Haven't uploaded calibration pictures!");
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// }
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// else
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// {
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// // todo 相机拍摄，存储照片集
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// }
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// 标定日志：显示拍摄照片集存储路径
|
|
// ui.textBrowser_7->append("");
|
|
}
|
|
|
|
// 相机标定
|
|
void Reconstruction::on_pushButton_7_clicked()
|
|
{
|
|
auto size = ui.spinBox->value();
|
|
auto row = ui.spinBox_2->value();
|
|
auto col = ui.spinBox_3->value();
|
|
|
|
calibrator->setCornerSize(size);
|
|
calibrator->setBoardRows(row);
|
|
calibrator->setBoardCols(col);
|
|
// todo 相机标定
|
|
killTimer(liveViewTimer);
|
|
calibrator->reset();
|
|
|
|
std::vector<Mat> imgList;
|
|
for (auto i = 0; i < dirModel->rowCount(); i++)
|
|
{
|
|
auto parent = dirModel->index(i, 0);
|
|
auto imgNum = dirModel->rowCount(parent);
|
|
for (auto j = 0; j < imgNum; j++)
|
|
{
|
|
imgList.push_back(getImage(i, j, GrayImageRole));
|
|
}
|
|
calibrator->addFrameSequence(imgList);
|
|
imgList.clear();
|
|
}
|
|
calibData = calibrator->calibrate();
|
|
std::cout << "calibration success!!!" << std::endl;
|
|
calibData->print();
|
|
ui.pushButton_6->setEnabled(true);
|
|
|
|
if (device->getCamera()->isConnecting()) liveViewTimer = startTimer(100);
|
|
|
|
// 相机参数栏：显示标定结果
|
|
ui.textBrowser->append("");
|
|
ui.textBrowser_2->append("");
|
|
ui.textBrowser_3->append("");
|
|
ui.textBrowser_4->append("");
|
|
}
|
|
|
|
// 保存结果
|
|
void Reconstruction::on_pushButton_8_clicked()
|
|
{
|
|
QFileDialog fileDialog;
|
|
QString fileName = fileDialog.getSaveFileName(this, "Open File", "", "Text File(*.txt)"); // todo 更改文件类型
|
|
if (fileName.isEmpty())
|
|
{
|
|
return;
|
|
}
|
|
QFile file(fileName);
|
|
if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) // todo 更改文件类型
|
|
{
|
|
QMessageBox::warning(this, "error", "open file failure!");
|
|
return;
|
|
}
|
|
else
|
|
{
|
|
// todo 保存结果
|
|
QString selectedFilter;
|
|
QString fileName = QFileDialog::getSaveFileName(this, QString::fromLocal8Bit("保存标定文件"), QString(), "*.xml",
|
|
&selectedFilter);
|
|
calibData->saveXML(fileName);
|
|
}
|
|
}
|
|
|
|
void Reconstruction::closeEvent(QCloseEvent*)
|
|
{
|
|
killTimer(liveViewTimer);
|
|
delete calibData;
|
|
delete calibrator;
|
|
delete dirModel;
|
|
}
|
|
|
|
void Reconstruction::timerEvent(QTimerEvent* event)
|
|
{
|
|
if (event->timerId() != liveViewTimer)
|
|
{
|
|
std::cerr << "Something fishy..." << std::endl << std::flush;
|
|
return;
|
|
}
|
|
|
|
auto frame = device->getCamera()->getFrame();
|
|
|
|
auto frameCV = cvtools::camFrame2Mat(frame);
|
|
cvtColor(frameCV, frameCV, cv::COLOR_BGR2GRAY);
|
|
if (frameCV.rows == 0 || frameCV.cols == 0)
|
|
{
|
|
return;
|
|
}
|
|
|
|
frameCV = frameCV.clone();
|
|
auto qimage = cvtools::cvMat2qImage(frameCV);
|
|
|
|
// 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)
|
|
{
|
|
QDir root_dir(dirname);
|
|
|
|
//reset internal data
|
|
dirModel->clear();
|
|
|
|
auto dirlist = root_dir.entryList(QDir::Dirs | QDir::NoDotAndDotDot, QDir::Name);
|
|
foreach(const QString & item, dirlist)
|
|
{
|
|
QDir dir(root_dir.filePath(item));
|
|
|
|
QStringList filters;
|
|
filters << "*.jpg" << "*.bmp" << "*.png";
|
|
|
|
auto filelist = dir.entryList(filters, QDir::Files, QDir::Name);
|
|
auto path = dir.path();
|
|
|
|
//setup the model
|
|
auto filecount = filelist.count();
|
|
|
|
if (filecount < 1)
|
|
{
|
|
//no images skip
|
|
continue;
|
|
}
|
|
|
|
unsigned row = dirModel->rowCount();
|
|
if (!dirModel->insertRow(row))
|
|
{
|
|
std::cout << "Failed model insert " << item.toStdString() << "(" << row << ")" << std::endl;
|
|
continue;
|
|
}
|
|
|
|
// add the childrens
|
|
auto parent = dirModel->index(row, 0);
|
|
dirModel->setData(parent, item, Qt::DisplayRole);
|
|
|
|
for (auto i = 0; i < filecount; i++)
|
|
{
|
|
const auto& filename = filelist.at(i);
|
|
if (!dirModel->insertRow(i, parent))
|
|
{
|
|
std::cout << "Failed model insert " << filename.toStdString() << "(" << row << ")" << std::endl;
|
|
break;
|
|
}
|
|
|
|
auto index = dirModel->index(i, 0, parent);
|
|
dirModel->setData(index, QString("#%1 %2").arg(i, 2, 10, QLatin1Char('0')).arg(filename), Qt::DisplayRole);
|
|
|
|
//additional data
|
|
dirModel->setData(index, path + "/" + filename, ImageFilenameRole);
|
|
}
|
|
}
|
|
|
|
if (dirModel->rowCount() >= 3)
|
|
{
|
|
ui.pushButton_7->setEnabled(true);
|
|
}
|
|
else
|
|
{
|
|
ui.pushButton_7->setEnabled(false);
|
|
}
|
|
}
|
|
|
|
Mat Reconstruction::getImage(unsigned level, unsigned n, Role role)
|
|
{
|
|
if (role != GrayImageRole && role != ColorImageRole)
|
|
{
|
|
//invalid args
|
|
return Mat();
|
|
}
|
|
|
|
//try to load
|
|
if (dirModel->rowCount() < static_cast<int>(level))
|
|
{
|
|
//out of bounds
|
|
return cv::Mat();
|
|
}
|
|
auto parent = dirModel->index(level, 0);
|
|
if (dirModel->rowCount(parent) < static_cast<int>(n))
|
|
{
|
|
//out of bounds
|
|
return Mat();
|
|
}
|
|
|
|
auto index = dirModel->index(n, 0, parent);
|
|
if (!index.isValid())
|
|
{
|
|
//invalid index
|
|
return Mat();
|
|
}
|
|
|
|
auto filename = dirModel->data(index, ImageFilenameRole).toString();
|
|
// std::cout << "[" << (role==GrayImageRole ? "gray" : "color") << "] Filename: " << filename.toStdString() << std::endl;
|
|
|
|
//load image
|
|
auto rgb_image = imread(filename.toStdString());
|
|
|
|
|
|
if (rgb_image.rows > 0 && rgb_image.cols > 0)
|
|
{
|
|
//color
|
|
if (role == ColorImageRole)
|
|
{
|
|
return rgb_image;
|
|
}
|
|
|
|
//gray scale
|
|
if (role == GrayImageRole)
|
|
{
|
|
Mat gray_image;
|
|
cvtColor(rgb_image, gray_image, cv::COLOR_BGR2GRAY);
|
|
return gray_image;
|
|
}
|
|
}
|
|
|
|
return Mat();
|
|
}
|
|
|
|
#pragma endregion
|
|
|
|
#pragma region 三维重建-按钮
|
|
|
|
// 选择文件
|
|
void Reconstruction::on_pushButton_4_clicked()
|
|
{
|
|
// 选择投影图案
|
|
QString fileName = QFileDialog::getOpenFileName(
|
|
this, tr("open image file"),
|
|
"./", tr("Image files(*.bmp *.jpg *.pbm *.pgm *.png *.ppm *.xbm *.xpm);;All files (*.*)"));
|
|
|
|
if (fileName.isEmpty())
|
|
{
|
|
QMessageBox mesg;
|
|
mesg.warning(this, "WARNING", "Failed to open file");
|
|
return;
|
|
}
|
|
|
|
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);
|
|
auto w = ui.label_21->width();
|
|
auto h = ui.label_21->height();
|
|
ui.label_21->setPixmap(QPixmap(fileName).scaled(w, h, Qt::KeepAspectRatio));
|
|
// 投影结构光图案
|
|
// device->getProjector()->displayPattern(44);
|
|
// todo 接着进行投影操作
|
|
}
|
|
|
|
// 投影图案
|
|
void Reconstruction::on_pushButton_19_clicked()
|
|
{
|
|
device->getProjector()->displayPattern(44);
|
|
}
|
|
|
|
// 相机拍照
|
|
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);
|
|
if (frameCV.rows == 0 || frameCV.cols == 0)
|
|
{
|
|
return;
|
|
}
|
|
|
|
frameCV = frameCV.clone();
|
|
auto qimage = cvtools::cvMat2qImage(frameCV);
|
|
|
|
// correct size only if label has no borders/frame!
|
|
auto w = ui.label_21->width();
|
|
auto h = ui.label_21->height();
|
|
|
|
auto pixmap = QPixmap::fromImage(qimage);
|
|
ui.label_21->setPixmap(pixmap.scaled(w, h, Qt::KeepAspectRatio));
|
|
}
|
|
|
|
void Reconstruction::setPicAction(QString action)
|
|
{
|
|
if (action == "confirmed")
|
|
{
|
|
qDebug("confirmed");
|
|
confirmPic = true;
|
|
}
|
|
else if (action == "canceled")
|
|
{
|
|
qDebug("canceled");
|
|
confirmPic = false;
|
|
}
|
|
}
|
|
|
|
// 保存照片
|
|
void Reconstruction::on_pushButton_10_clicked()
|
|
{
|
|
if (confirmPic)
|
|
{
|
|
QString fileName = QFileDialog::getSaveFileName(this,
|
|
tr("save image"),
|
|
"",
|
|
tr("*.png;; *.jpg;; *.bmp;; All files(*.*)"));
|
|
|
|
if (!fileName.isNull())
|
|
{
|
|
QScreen* screen = QGuiApplication::primaryScreen();
|
|
screen->grabWindow(ui.label_21->winId()).save(fileName);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
QMessageBox mesg;
|
|
mesg.warning(this, "WARNING", "Haven't taken picture!");
|
|
}
|
|
}
|
|
|
|
// 开始重建
|
|
void Reconstruction::on_pushButton_17_clicked()
|
|
{
|
|
auto isNull = ui.lineEdit->text();
|
|
if (isNull.isEmpty())
|
|
{
|
|
QMessageBox mesg;
|
|
mesg.warning(this, "WARNING", "Please select a picture!");
|
|
return;
|
|
}
|
|
|
|
cloud.clear();
|
|
location = false;
|
|
reconstructStatus = true;
|
|
on_pushButton_3_clicked();
|
|
ui.label_9->setVisible(true);
|
|
QCoreApplication::processEvents();
|
|
td->start();
|
|
}
|
|
|
|
#pragma endregion
|
|
|
|
#pragma region 点云渲染-按钮
|
|
|
|
// 异常点选择
|
|
void Reconstruction::on_pushButton_11_clicked()
|
|
{
|
|
QMessageBox::information(this, tr("Tip"),
|
|
"Please press the 'X' in the keyboard to choose the outlier points!");
|
|
}
|
|
|
|
// 异常点剔除
|
|
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);
|
|
if (indices[i] - i >= cloud.size())break;
|
|
cloud.erase(index);
|
|
}
|
|
indices.clear();
|
|
pclData->setIndices(indices);
|
|
pclData->setCloud(cloud);
|
|
updateQVTK(cloud, color);
|
|
}
|
|
|
|
// 导入点云
|
|
void Reconstruction::on_pushButton_13_clicked()
|
|
{
|
|
if (loadingStatus || reconstructStatus)
|
|
{
|
|
QMessageBox mesg;
|
|
mesg.warning(this, "WARNING", "There is a Point Cloud Loading.");
|
|
return;
|
|
}
|
|
|
|
QString fileName = QFileDialog::getOpenFileName(
|
|
this, tr("open multiple image file"),
|
|
"./", tr("PCD files(*.pcd);;PLY files(*.ply);;All files (*.*)")); // todo 文件类型待确认
|
|
|
|
if (fileName.isEmpty())
|
|
{
|
|
QMessageBox mesg;
|
|
mesg.warning(this, "WARNING", "Failed to open file");
|
|
return;
|
|
}
|
|
|
|
cloud.clear();
|
|
location = false;
|
|
ui.label_9->setVisible(true);
|
|
QCoreApplication::processEvents();
|
|
t->setPcd(fileName);
|
|
t->start();
|
|
loadingStatus = true;
|
|
}
|
|
|
|
// 导出结果
|
|
void Reconstruction::on_pushButton_14_clicked()
|
|
{
|
|
QString fileName = QFileDialog::getSaveFileName(this, tr("Save to file"),
|
|
"./", tr("PCD files(*.pcd);;PLY files(*.ply);;All files (*.*)"));
|
|
|
|
if (!fileName.isNull())
|
|
{
|
|
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);
|
|
else if (QString::fromStdString(name).endsWith(".ply", Qt::CaseInsensitive))
|
|
io::savePLYFileBinary(name, cloud);
|
|
}
|
|
}
|
|
|
|
// 泊松曲面重建
|
|
void Reconstruction::on_pushButton_15_clicked()
|
|
{
|
|
ui.label_9->setVisible(true);
|
|
QCoreApplication::processEvents();
|
|
htd->start();
|
|
possionStatus = true;
|
|
}
|
|
|
|
// 颜色选取
|
|
void Reconstruction::on_pushButton_16_clicked()
|
|
{
|
|
QColor colortmp = QColorDialog::getColor(Qt::black);
|
|
if (colortmp.isValid())
|
|
{
|
|
color = colortmp;
|
|
updateQVTK(cloud, color);
|
|
auto pclData = PointCloudData::getInstance();
|
|
pclData->setColor(color);
|
|
}
|
|
}
|
|
|
|
// 帮助
|
|
void Reconstruction::on_pushButton_18_clicked()
|
|
{
|
|
Help* help = new Help();
|
|
help->show();
|
|
}
|
|
|
|
#pragma endregion
|
|
|
|
void Reconstruction::about()
|
|
{
|
|
AboutDialog* aboutDialog;
|
|
aboutDialog = new AboutDialog(this);
|
|
aboutDialog->setWindowFlags(Qt::Window);
|
|
aboutDialog->setWindowModality(Qt::ApplicationModal);
|
|
aboutDialog->setWindowTitle(QString::fromLocal8Bit("关于"));
|
|
aboutDialog->show();
|
|
}
|