370 lines
8.8 KiB
C++
370 lines
8.8 KiB
C++
#include "Reconstruction.h"
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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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t = new MyThread;
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connect(t, SIGNAL(finished()), this, SLOT(setCloud()));
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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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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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ui.label_11->setPixmap(QPixmap(":/icon/image/calibration/novideo.png"));
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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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// 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/save2.png"));
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ui.pushButton_16->setIcon(QIcon(":/icon/image/reconstruction/color.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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}
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void Reconstruction::on_pushButton_2_clicked()
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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);
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if(loadingStatus)
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{
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ui.label_9->setVisible(true);
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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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loadingStatus = false;
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cloud = t->getCloud();
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updateQVTK(cloud);
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}
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void Reconstruction::updateQVTK(PointCloud<PointXYZRGB> cloud)
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{
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boost::shared_ptr<visualization::PCLVisualizer> viewer(new visualization::PCLVisualizer("3D Viewer"));
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viewer->setBackgroundColor(0.458, 0.529, 0.844);
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viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
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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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viewer->addPointCloud(cloudPtr, "cloud");
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viewer->setPointCloudRenderingProperties(visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");
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}
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ui.qvtkWidget->SetRenderWindow(viewer->getRenderWindow());
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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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}else
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{
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calPath = fileName;
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}
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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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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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}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
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ui.textBrowser_7->append("");
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}
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// 相机标定
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void Reconstruction::on_pushButton_7_clicked()
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{
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int size = ui.spinBox->value();
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int row = ui.spinBox_2->value();
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int col = ui.spinBox_3->value();
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// todo 相机标定
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// 相机参数栏：显示标定结果
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ui.textBrowser->append("");
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ui.textBrowser_2->append("");
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ui.textBrowser_3->append("");
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ui.textBrowser_4->append("");
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}
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// 保存结果
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void Reconstruction::on_pushButton_8_clicked()
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{
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QFileDialog fileDialog;
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QString fileName = fileDialog.getSaveFileName(this, "Open File", "", "Text File(*.txt)"); // todo 更改文件类型
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if (fileName.isEmpty())
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{
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return;
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}
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QFile file(fileName);
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if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) // todo 更改文件类型
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{
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QMessageBox::warning(this, "error", "open file failure!");
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return;
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}
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else
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{
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// todo 保存结果
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}
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}
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#pragma endregion
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#pragma region 三维重建-按钮
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// 选择文件
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void Reconstruction::on_pushButton_4_clicked()
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{
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// 选择投影图案
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QString fileName = QFileDialog::getOpenFileName(
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this, tr("open image file"),
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"./", tr("Image files(*.bmp *.jpg *.pbm *.pgm *.png *.ppm *.xbm *.xpm);;All files (*.*)"));
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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 file");
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return;
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}
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ui.lineEdit->setText(fileName);
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// todo 接着进行投影操作
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}
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// 相机拍照
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void Reconstruction::on_pushButton_9_clicked()
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{
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// todo 相机拍照
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picPath = "Resources/image/test.png"; // 该行仅做测试使用
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DisplayPic *picDlg = new DisplayPic();
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picDlg->setPicPath(picPath);
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connect(picDlg, SIGNAL(getPicAction(QString)), this, SLOT(setPicAction(QString)));
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picDlg->show();
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}
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void Reconstruction::setPicAction(QString action)
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{
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if(action=="confirmed")
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{
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qDebug("confirmed");
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confirmPic = true;
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}else if(action=="canceled")
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{
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qDebug("canceled");
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confirmPic = false;
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}
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}
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// 保存照片
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void Reconstruction::on_pushButton_10_clicked()
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{
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// todo 保存照片
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if(confirmPic)
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{
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QString fileName = QFileDialog::getSaveFileName(this,
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tr("save image"),
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"",
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tr("*.png;; *.jpg;; *.bmp;; All files(*.*)"));
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if (!fileName.isNull())
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{
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QImage iim(picPath);//创建一个图片对象,存储源图片
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QPainter painter(&iim);//设置绘画设备
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QFile file(fileName);//创建一个文件对象，存储用户选择的文件
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if (!file.open(QIODevice::ReadWrite)) {
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return;
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}
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QByteArray ba;
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QBuffer buffer(&ba);
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buffer.open(QIODevice::WriteOnly);
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iim.save(&buffer, "JPG");//把图片以流方式写入文件缓存流中
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file.write(ba);//将流中的图片写入文件对象当中
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}
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}else
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{
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QMessageBox mesg;
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mesg.warning(this, "WARNING", "Haven't taken picture!");
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}
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}
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// 开始重建
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void Reconstruction::on_pushButton_17_clicked()
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{
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// todo 开始重建
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}
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#pragma endregion
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#pragma region 点云渲染-按钮
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// 异常点选择
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void Reconstruction::on_pushButton_11_clicked()
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{
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// todo 异常点选择
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}
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// 异常点剔除
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void Reconstruction::on_pushButton_12_clicked()
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{
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// todo 异常点剔除
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}
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// 导入点云
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void Reconstruction::on_pushButton_13_clicked()
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{
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if(loadingStatus)
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{
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QMessageBox mesg;
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mesg.warning(this, "WARNING", "正在加载… ");
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return;
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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("PCD files(*.pcd);;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 file");
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return;
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}
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ui.label_9->setVisible(true);
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QCoreApplication::processEvents();
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t->setPcd(fileName);
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t->start();
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loadingStatus = true;
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// todo 存储文件或文件路径
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}
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// 导出结果
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void Reconstruction::on_pushButton_14_clicked()
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{
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// todo 导出结果
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}
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// 保存截图
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void Reconstruction::on_pushButton_15_clicked()
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{
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QString fileName = QFileDialog::getSaveFileName(this,
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tr("save screen shot"),
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"",
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tr("*.png;; *.jpg;; *.bmp;; All files(*.*)"));
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if (!fileName.isNull())
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{
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// 截图所选的控件暂时用 label_17 替代
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QPixmap pix = QPixmap::grabWidget(ui.qvtkWidget);
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pix.save(fileName);
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}
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}
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// 颜色选取
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void Reconstruction::on_pushButton_16_clicked()
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{
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color = QColorDialog::getColor(Qt::black);
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if (color.isValid()){
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// qDebug("x:%f, %f, %f",color.redF(), color.greenF(), color.blueF());
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// todo 颜色选取框已选择颜色color，接下来对color进行处理
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}
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}
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// 帮助
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void Reconstruction::on_pushButton_18_clicked()
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{
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Help* help = new Help();
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help->show();
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}
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#pragma endregion
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