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pclvisualizer.cpp
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pclvisualizer.cpp
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#pragma execution_character_set("utf-8")
#include "pclvisualizer.h"
#include "./ui_pclvisualizer.h"
#include <QColor>
#include <QColorDialog>
#include <QDebug>
#include <QFile>
#include <QFileDialog>
#include <QPainter>
#include <QTextList>
#include <QTextStream>
PCLVisualizer::PCLVisualizer(QWidget* parent)
: QMainWindow(parent)
, isCloud2(true) // 设置初始点大小
, point_size(5) // 设置初始背景颜色
, ui(new Ui::PCLVisualizer) //是否默认开启RGBA显示点云
, isRBGA(true) // 是否显示第二个点云
, bgColor(0, 0, 50) // 初始化顺序要和声明的顺序一致
{
ui->setupUi(this);
// cout << "INIT" << endl;
initPCV();
// //创建动作，工具栏以及菜单栏
createActions();
// createMenus();
// 创建工具栏
createToolBars();
//初始化点云数据
initPointCloud();
// 给QVTK配置PCLViewer显示
viewer_.reset(new pcl::visualization::PCLVisualizer("viewer", false));
//设置背景颜色
viewer_->setBackgroundColor(double(bgColor.red()) / 255,
double(bgColor.green()) / 255,
double(bgColor.blue()) / 255);
ui->qvtkWidget->SetRenderWindow(viewer_->getRenderWindow());
viewer_->setupInteractor(ui->qvtkWidget->GetInteractor(),
ui->qvtkWidget->GetRenderWindow());
ui->qvtkWidget->update();
connectSS();
// Color the randomly generated cloud
// 以随机颜色填充点云
colorCloudDistances();
if (isRBGA) {
viewer_->addPointCloud(cloudRGBA_, "cloud");
} else {
viewer_->addPointCloud(cloud_, "cloud");
}
////viewer_->addPointCloud(cloud_, "cloud");
// viewer_->addPointCloud(cloudRGBA_, "cloud");
viewer_->setPointCloudRenderingProperties(
pcl::visualization::PCL_VISUALIZER_POINT_SIZE, point_size);
// viewer_->addCoordinateSystem(1);
viewer_->resetCamera();
viewer_->setLookUpTableID("cloud");
ui->qvtkWidget->update();
showLogItem("PCV 系统", "系统初始化完成。");
}
PCLVisualizer::~PCLVisualizer()
{
delete ui;
}
void
PCLVisualizer::initPCV()
{
//设置窗口名称
QString str = "PointCloudViewer";
this->setWindowTitle(str);
showLogItem("PCV 系统", "系统正在初始化...");
logStr = "主窗口位置已还原: " + QString("X-Y-Width-Height(%1,%2,%3,%4)")
.arg(this->x())
.arg(this->y())
.arg(this->width())
.arg(this->height());
showLogItem("PCV 窗口", logStr);
//写ini文件，记录当前窗口位置和大小：
QString wstrFilePath =
qApp->applicationDirPath() + "/setting.ini"; // .ini放在工程源文件目录下
settings = new QSettings(
wstrFilePath, QSettings::IniFormat); //用QSetting获取ini文件中的数据
// settings->clear(); //清空当前配置文件中的内容
}
void
PCLVisualizer::showLogItem(QString item, QString info)
{
//--------------------LOG--------------------------
logStr = "[" + QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm:ss") +
"] " + " [ " + item + " ] " + info;
logList.push_back(logStr);
ui->logList->addItem(logStr);
//--------------------LOG--------------------------
}
void
PCLVisualizer::saveSetting(QString key, QString value)
{
//写ini文件，记录当前窗口位置和大小：
QString wstrFilePath =
qApp->applicationDirPath() + "/setting.ini"; // .ini放在工程源文件目录下
QSettings* settings = new QSettings(
wstrFilePath, QSettings::IniFormat); //用QSetting获取ini文件中的数据
// settings->clear(); //清空当前配置文件中的内容
settings->setValue(key, value);
settings->sync();
}
QVariant
PCLVisualizer::getSetting(QString name)
{
return settings->value(name);
}
void
PCLVisualizer::createActions()
{
//添加点云
// addCloudAction =
// new QAction(QIcon(":/images/files/cloud.png"), "添加点云", this);
// addCloudAction->setShortcut(tr("Ctrl+O")); //(b)
// addCloudAction->setStatusTip(tr("添加点云")); //(c)
//新建工作台
newWorkStationAction =
new QAction(QIcon(":/images/files/add.png"), tr("new"), this);
newWorkStationAction->setShortcut(tr("Ctrl+N"));
newWorkStationAction->setStatusTip(tr("new"));
//打开点云文件
newCloudAction =
new QAction(QIcon(":/images/files/new2.png"), tr("打开点云文件"), this);
// exitAction->setShortcut(tr("Ctrl+Q"));
newCloudAction->setStatusTip(tr("打开点云文件"));
//复制点云
copyCloudAction =
new QAction(QIcon(":/images/files/copy.png"), tr("复制点云"), this);
copyCloudAction->setShortcut(tr("Ctrl+C"));
copyCloudAction->setStatusTip(tr("复制点云"));
//剪切点云
cutCloudAction =
new QAction(QIcon(":/images/files/cut.png"), tr("剪切点云"), this);
cutCloudAction->setShortcut(tr("Ctrl+X"));
cutCloudAction->setStatusTip(tr("剪切点云"));
//粘贴点云
pasteCloudAction =
new QAction(QIcon(":/images/files/paste.png"), tr("粘贴点云"), this);
pasteCloudAction->setShortcut(tr("Ctrl+V"));
pasteCloudAction->setStatusTip(tr("粘贴点云"));
//查找点云文件
searchCloudAction =
new QAction(QIcon(":/images/files/search.png"), tr("查找点云文件"), this);
searchCloudAction->setShortcut(tr("Ctrl+F"));
searchCloudAction->setStatusTip(tr("查找点云文件"));
//导出点云至PCD文件
exportCloud2PCDAction = new QAction(
QIcon(":/images/files/pointCloud.png"), tr("导出点云至PCD文件"), this);
exportCloud2PCDAction->setStatusTip(tr("导出点云至PCD文件"));
//导出点云至PLY文件
exportCloud2PLYAction = new QAction(
QIcon(":/images/files/cloud2.png"), tr("导出点云至PLY文件"), this);
exportCloud2PLYAction->setStatusTip(tr("导出点云至PLY文件"));
//导出点云至CSV文件
export2CSVAction =
new QAction(QIcon(":/images/files/CSV.png"), tr("导出点云至CSV文件"), this);
export2CSVAction->setStatusTip(tr("导出点云至CSV文件"));
//导出点云至TXT文件
export2TXTAction =
new QAction(QIcon(":/images/files/txt.png"), tr("导出点云至TXT文件"), this);
export2TXTAction->setStatusTip(tr("导出点云至TXT文件"));
//收藏点云文件
starCloudAction =
new QAction(QIcon(":/images/files/star.png"), tr("收藏点云文件"), this);
starCloudAction->setStatusTip(tr("收藏点云文件"));
//导出屏幕截图
snapShotAction =
new QAction(QIcon(":/images/files/snapshot.png"), tr("导出屏幕截图"), this);
snapShotAction->setStatusTip(tr("导出屏幕截图"));
//离群点移除
outliersRemoveAction = new QAction(
QIcon(":/images/algorithm/KMeans.png"), tr("outliersRemove"), this);
outliersRemoveAction->setStatusTip(tr("outliersRemove"));
//滤波平滑
filterAction =
new QAction(QIcon(":/images/algorithm/filter.png"), tr("滤波平滑"), this);
filterAction->setStatusTip(tr("滤波平滑"));
//点云下采样
downSampleAction =
new QAction(QIcon(":/images/algorithm/density.png"), "downSampling", this);
downSampleAction->setStatusTip(tr("downSampling"));
//点云拼接
cloudSpliceAction =
new QAction(QIcon(":/images/algorithm/pingjie.png"), "点云拼接", this);
cloudSpliceAction->setStatusTip(tr("点云拼接"));
//点云直方图
HistogramAction =
new QAction(QIcon(":/images/algorithm/Histogram.png"), "Histogram", this);
HistogramAction->setStatusTip(tr("Histogram"));
//表面重建
surfaceAction =
new QAction(QIcon(":/images/algorithm/matrix.png"), "surface", this);
surfaceAction->setStatusTip(tr("surface"));
//点云配准
alignAction =
new QAction(QIcon(":/images/algorithm/DBSCAN.png"), "点云配准", this);
alignAction->setStatusTip(tr("点云配准"));
// MLS细化
MLSAction =
new QAction(QIcon(":/images/algorithm/nihe.png"), "MLS细化", this);
MLSAction->setStatusTip(tr("MLS细化"));
}
void
PCLVisualizer::createMenus()
{}
void
PCLVisualizer::createToolBars()
{
//点云文件工具栏
fileTool = addToolBar("cloudFile");
fileTool->addAction(newWorkStationAction);
// fileTool->addAction(addCloudAction);
fileTool->addAction(ui->actionload_point_cloud);
fileTool->addAction(newCloudAction);
fileTool->addAction(copyCloudAction);
fileTool->addAction(cutCloudAction);
fileTool->addAction(pasteCloudAction);
fileTool->addSeparator();
fileTool->addAction(exportCloud2PCDAction);
fileTool->addAction(exportCloud2PLYAction);
fileTool->addAction(export2CSVAction);
fileTool->addAction(export2TXTAction);
fileTool->addAction(ui->actionExportLog);
fileTool->addAction(snapShotAction);
fileTool->addSeparator();
fileTool->addAction(starCloudAction);
fileTool->addAction(searchCloudAction);
fileTool->addAction(ui->actionBGColor);
//算法工具栏
algorithmTool = addToolBar("algorithm");
algorithmTool->addAction(ui->actionbestRemoval);
algorithmTool->addAction(ui->actionbestFiltering);
algorithmTool->addAction(ui->actionbestKeypoint);
algorithmTool->addAction(ui->actionbestRegistration);
algorithmTool->addAction(ui->actionbestSurface);
algorithmTool->addAction(MLSAction);
algorithmTool->addAction(HistogramAction);
}
void
PCLVisualizer::test()
{
qDebug() << "Hello World!";
}
void
PCLVisualizer::initPointCloud()
{
// Setup the cloud pointer
cloud_.reset(new PointCloudT);
cloud.reset(new PointCloudT);
cloud_noise.reset(new PointCloudT);
cloud_filtered.reset(new PointCloudT);
cloud_filtered_guass.reset(new PointCloudT);
cloud_filtered_guass_down.reset(new PointCloudT);
cloud_filtered_out.reset(new PointCloudT);
cloud_in.reset(new PointCloudT);
cloud_tr.reset(new PointCloudT);
cloud_RE.reset(new PointCloudT);
cloudRGBA_.reset(new PointCloudTRGBA);
// The number of points in the cloud
cloud_->resize(1000);
cloudRGBA_->resize(1000);
// Fill the cloud with random points
for (size_t i = 0; i < cloud_->points.size(); ++i) {
cloud_->points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
cloud_->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
cloud_->points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
}
// 获取点云内的最大点和最小点
pcl::getMinMax3D(*cloud_, p_min, p_max);
maxLen = getMaxValue(p_max, p_min);
//拷贝一份给RGBA点云
pcl::copyPointCloud(*cloud_, *cloudRGBA_);
showLogItem("PCV 主窗口", "点云初始化完成");
}
//连接信号槽
void
PCLVisualizer::connectSS()
{
connect(ui->pushButton_inc,
&QPushButton::clicked,
this,
&PCLVisualizer::IncPointSize);
connect(ui->actionload_point_cloud,
&QAction::triggered,
this,
&PCLVisualizer::loadPCDFile);
connect(ui->actionsave_point_cloud,
&QAction::triggered,
this,
&PCLVisualizer::savePCDFile);
connect(ui->actionCoordinateSystem,
&QAction::triggered,
this,
&PCLVisualizer::AddCoordinateSystem);
// Connect "Load" and "Save" buttons and their functions
connect(ui->pushButton_dec,
&QPushButton::clicked,
this,
&PCLVisualizer::DecPointSize);
// Connect X,Y,Z radio buttons and their functions
connect(ui->radioButton_x,
&QRadioButton::clicked,
this,
&PCLVisualizer::chooseAxis);
connect(ui->radioButton_y,
&QRadioButton::clicked,
this,
&PCLVisualizer::chooseAxis);
connect(ui->radioButton_z,
&QRadioButton::clicked,
this,
&PCLVisualizer::chooseAxis);
connect(ui->radioButton_BlueRed,
&QRadioButton::clicked,
this,
&PCLVisualizer::chooseColorMode);
connect(ui->radioButton_GreenMagenta,
&QRadioButton::clicked,
this,
&PCLVisualizer::chooseColorMode);
connect(ui->radioButton_WhiteRed,
&QRadioButton::clicked,
this,
&PCLVisualizer::chooseColorMode);
connect(ui->radioButton_GreyRed,
&QRadioButton::clicked,
this,
&PCLVisualizer::chooseColorMode);
connect(ui->radioButton_Rainbow,
&QRadioButton::clicked,
this,
&PCLVisualizer::chooseColorMode);
connect(ui->radioButton_others,
&QRadioButton::clicked,
this,
&PCLVisualizer::chooseColorMode);
//增加新工作台功能
connect(newWorkStationAction,
&QAction::triggered,
this,
&PCLVisualizer::newWorkStation);
}
void
PCLVisualizer::savePCDFile()
{
QString filename =
QFileDialog::getSaveFileName(this,
tr("Open point cloud"),
"/home/",
tr("Point cloud data(*.pcd *.ply)"));
PCL_INFO("File chosen: %s\n", filename.toStdString().c_str());
if (filename.isEmpty())
return;
int return_status;
if (filename.endsWith(".pcd", Qt::CaseInsensitive))
return_status = pcl::io::savePCDFileBinary(filename.toStdString(), *cloud_);
else if (filename.endsWith(".ply", Qt::CaseInsensitive))
return_status = pcl::io::savePLYFileBinary(filename.toStdString(), *cloud_);
else {
filename.append(".ply");
return_status = pcl::io::savePLYFileBinary(filename.toStdString(), *cloud_);
}
if (return_status != 0) {
PCL_ERROR("Error writing point cloud %s\n", filename.toStdString().c_str());
return;
}
}
void
PCLVisualizer::loadPCDFile()
{
QString fileFormat, fileName, fileBaseName, pointCount, filePath, fileSuffix,
lastPath;
//读取文件名
//记住上一次加载的路径
lastPath = getSetting("FilePath/lastPath").toString();
QString filePathWithName =
QFileDialog::getOpenFileName(this,
tr("Open point cloud"),
lastPath,
tr("Point cloud data (*.pcd *.ply)"));
QFileInfo fileInfo;
fileInfo = QFileInfo(filePathWithName);
//文件名
fileName = fileInfo.fileName();
//文件后缀
fileSuffix = fileInfo.suffix();
//绝对路径
filePath = fileInfo.absolutePath();
fileBaseName = fileInfo.baseName();
//qDebug() << fileName << endl
// << fileSuffix << endl
// << filePath << endl
// << fileInfo.baseName() << endl
// << fileInfo.completeBaseName();
showLogItem("点云文件选择", filePath);
// PCL_INFO("File chosen: %s\n", filePathWithName.toStdString().c_str());
PointCloudT::Ptr cloud_tmp(new PointCloudT);
if (filePathWithName.isEmpty()) {
showLogItem("文件加载失败", filePathWithName);
return;
}
showLogItem("文件加载成功", filePathWithName);
// 将当前文件路径保存，下次使用
saveSetting("FilePath/lastPath", filePathWithName);
//判断文件类型然后加载点云
int return_status;
if (filePathWithName.endsWith(".pcd", Qt::CaseInsensitive)) {
return_status =
pcl::io::loadPCDFile(filePathWithName.toStdString(), *cloud_tmp);
fileFormat = "PCD";
} else {
return_status =
pcl::io::loadPLYFile(filePathWithName.toStdString(), *cloud_tmp);
fileFormat = "PLY";
}
showLogItem("点云加载中", "文件格式为：" + fileFormat);
//判断是否加载成功
if (return_status != 0) {
PCL_ERROR("Error reading point cloud %s\n",
filePathWithName.toStdString().c_str());
showLogItem("点云加载中", fileName+" 文件读取失败。");
return;
}
PCL_INFO("file has loaded\n");
showLogItem("点云加载完成", fileFormat);
// If point cloud contains NaN values, remove them before updating the
// visualizer point cloud
// True if no points are invalid (e.g., have NaN or Inf values in any of
// their floating point fields).
if (cloud_tmp->is_dense) {
pcl::copyPointCloud(*cloud_tmp, *cloud_);
} else {
PCL_WARN("Cloud is not dense! Non finite points will be removed\n");
std::vector<int> vec;
pcl::removeNaNFromPointCloud(*cloud_tmp, *cloud_, vec);
}
//将当前点云拷贝给RGBA点云
pcl::copyPointCloud(*cloud_, *cloudRGBA_);
showLogItem("点云信息", fileName + QString(" 点云数量: %1").arg(cloud_->points.size()));
qDebug() << "The number of points :" << cloud_->points.size();
//更新点云属性信息
ui->fileFormatEdt->setText(fileFormat);
ui->fileNameEdt->setText(fileInfo.baseName());
ui->pointCountEdt->setText(QString("%1").arg(cloud_->points.size()));
QString cloudFile = fileName + " [" + filePath + "]";
QListWidgetItem* item = new QListWidgetItem;
// item->setBackgroundColor(QColor(220, 230, 250));
item->setBackground(QBrush(QColor(220, 230, 250)));
item->setData(Qt::DisplayRole, cloudFile);
item->setData(Qt::CheckStateRole, Qt::Checked);
ui->filesList->addItem(item);
//初始化 A
for (PointCloudTRGBA::iterator cloud_it = cloudRGBA_->begin();
cloud_it != cloudRGBA_->end();
++cloud_it) {
// qDebug() << cloud_it->_PointXYZRGBA::r << " " <<
// cloud_it->_PointXYZRGBA::g
// << " " << cloud_it->_PointXYZRGBA::b << " "
// << cloud_it->_PointXYZRGBA::a;
cloud_it->_PointXYZRGBA::a = 255;
}
pcl::getMinMax3D(*cloud_, p_min, p_max);
maxLen = getMaxValue(p_max, p_min);
colorCloudDistances();
if (isRBGA) {
viewer_->updatePointCloud(cloudRGBA_, "cloud");
} else {
viewer_->updatePointCloud(cloud_, "cloud");
}
viewer_->resetCamera();
viewer_->setPointCloudRenderingProperties(
pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1);
ui->qvtkWidget->update();
}
void
PCLVisualizer::loadPLYFile()
{
QString fileFormat, fileName, fileBaseName, pointCount, filePath, fileSuffix;
//读取文件名
filePathWithName =
QFileDialog::getOpenFileName(this,
tr("Open point cloud"),
"E:/BaiduNetdiskWorkspace/Paper-of-Luo/PCD",
tr("Point cloud data (*.pcd *.ply)"));
QFileInfo fileInfo;
fileInfo = QFileInfo(filePathWithName);
//文件名
fileName = fileInfo.fileName();
//文件后缀
fileSuffix = fileInfo.suffix();
//绝对路径
filePath = fileInfo.absolutePath();
fileBaseName = fileInfo.baseName();
QString cloudFile = fileName + " [" + filePath + "]";
QListWidgetItem* item = new QListWidgetItem;
// item->setBackgroundColor(QColor(220, 230, 250));
item->setBackground(QBrush(QColor(220, 230, 250)));
item->setData(Qt::DisplayRole, cloudFile);
item->setData(Qt::CheckStateRole, Qt::Checked);
ui->filesList->addItem(item);
}
void
PCLVisualizer::chooseAxis()
{
if (color_mode_ == 5)
return;
// Only 1 of the button can be checked at the time (mutual exclusivity) in a
// group of radio buttons
if (ui->radioButton_x->isChecked()) {
PCL_INFO("x filtering chosen\n");
filtering_axis_ = 0;
} else if (ui->radioButton_y->isChecked()) {
PCL_INFO("y filtering chosen\n");
filtering_axis_ = 1;
} else {
PCL_INFO("z filtering chosen\n");
filtering_axis_ = 2;
}
colorCloudDistances();
if (isRBGA) {
viewer_->updatePointCloud(cloudRGBA_, "cloud");
} else {
viewer_->updatePointCloud(cloud_, "cloud");
}
ui->qvtkWidget->update();
}
void
PCLVisualizer::chooseColorMode()
{
// Only 1 of the button can be checked at the time (mutual exclusivity) in a
// group of radio buttons
if (ui->radioButton_BlueRed->isChecked()) {
PCL_INFO("Blue -> Red LUT chosen\n");
color_mode_ = 0;
} else if (ui->radioButton_GreenMagenta->isChecked()) {
PCL_INFO("Green -> Magenta LUT chosen\n");
color_mode_ = 1;
} else if (ui->radioButton_WhiteRed->isChecked()) {
PCL_INFO("White -> Red LUT chosen\n");
color_mode_ = 2;
} else if (ui->radioButton_GreyRed->isChecked()) {
PCL_INFO("Grey / Red LUT chosen\n");
color_mode_ = 3;
} else if (ui->radioButton_Rainbow->isChecked()) {
PCL_INFO("Rainbow LUT chosen\n");
color_mode_ = 4;
} else {
PCL_INFO("Full color chosen\n");
color_mode_ = 5;
QColor c = QColorDialog::getColor(Qt::red);
if (c.isValid()) {
point_color = c;
qDebug() << "RBG: " << c.red() << " " << c.green() << " " << c.blue();
}
}
colorCloudDistances();
if (isRBGA) {
viewer_->updatePointCloud(cloudRGBA_, "cloud");
} else {
viewer_->updatePointCloud(cloud_, "cloud");
}
ui->qvtkWidget->update();
}
void
PCLVisualizer::IncPointSize()
{
// setValue函数会自动调用 SpinBox的触发动作
ui->pointSizeEdt->setValue(++point_size);
}
void
PCLVisualizer::DecPointSize()
{
if (point_size == 1)
return;
ui->pointSizeEdt->setValue(--point_size);
}
void
PCLVisualizer::AddCoordinateSystem()
{
QString str = ui->actionCoordinateSystem->text();
if (str.compare("CoordinateSystem [OFF]") == 0) {
qDebug() << str;
ui->actionCoordinateSystem->setText("CoordinateSystem [ON]");
viewer_->addCoordinateSystem();
} else {
ui->actionCoordinateSystem->setText("CoordinateSystem [OFF]");
viewer_->removeCoordinateSystem();
}
ui->qvtkWidget->update();
}
//软件关闭时动作
void
PCLVisualizer::closeEvent(QCloseEvent* event)
{
//写ini文件，记录当前窗口位置和大小：
QString wstrFilePath =
qApp->applicationDirPath() + "/setting.ini"; // .ini放在工程源文件目录下
QSettings* settings = new QSettings(
wstrFilePath, QSettings::IniFormat); //用QSetting获取ini文件中的数据
// settings->clear(); //清空当前配置文件中的内容
settings->setValue("WindowGeometry/x", this->x());
settings->setValue("WindowGeometry/y", this->y());
settings->setValue("WindowGeometry/width", this->width());
settings->setValue("WindowGeometry/height", this->height());
qDebug() << "Position is right:" << this->x() << " " << this->y() << " "
<< this->width() << " " << this->height();
}
void
PCLVisualizer::colorCloudDistances()
{
double min, max;
switch (filtering_axis_) {
case 0: // x
min = cloud_->points[0].x;
max = cloud_->points[0].x;
break;
case 1: // y
min = cloud_->points[0].y;
max = cloud_->points[0].y;
break;
default: // z
min = cloud_->points[0].z;
max = cloud_->points[0].z;
break;
}
// Search for the minimum/maximum
for (PointCloudTRGBA::iterator cloud_it = cloudRGBA_->begin();
cloud_it != cloudRGBA_->end();
++cloud_it) {
switch (filtering_axis_) {
case 0: // x
if (min > cloud_it->x)
min = cloud_it->x;
if (max < cloud_it->x)
max = cloud_it->x;
break;
case 1: // y
if (min > cloud_it->y)
min = cloud_it->y;
if (max < cloud_it->y)
max = cloud_it->y;
break;
default: // z
if (min > cloud_it->z)
min = cloud_it->z;
if (max < cloud_it->z)
max = cloud_it->z;
break;
}
}
// Compute LUT scaling to fit the full histogram spectrum
double lut_scale = 255.0 / (max - min); // max is 255, min is 0
if (min ==
max) // In case the cloud is flat on the chosen direction (x,y or z)
lut_scale = 1.0; // Avoid rounding error in boost
for (PointCloudTRGBA::iterator cloud_it = cloudRGBA_->begin();
cloud_it != cloudRGBA_->end();
++cloud_it) {
int value;
switch (filtering_axis_) {
case 0: // x
value = boost::math::iround(
(cloud_it->x - min) *
lut_scale); // Round the number to the closest integer
break;
case 1: // y
value = boost::math::iround((cloud_it->y - min) * lut_scale);
break;
default: // z
value = boost::math::iround((cloud_it->z - min) * lut_scale);
break;
}
// Apply color to the cloud
switch (color_mode_) {
case 0:
// Blue (= min) -> Red (= max)
cloud_it->r = value;
cloud_it->g = 0;
cloud_it->b = 255 - value;
break;
case 1:
// Green (= min) -> Magenta (= max)
cloud_it->r = value;
cloud_it->g = 255 - value;
cloud_it->b = value;
break;
case 2:
// White (= min) -> Red (= max)
cloud_it->r = 255;
cloud_it->g = 255 - value;
cloud_it->b = 255 - value;
break;
case 3:
// Grey (< 128) / Red (> 128)
if (value > 128) {
cloud_it->r = 255;
cloud_it->g = 0;
cloud_it->b = 0;
} else {
cloud_it->r = 128;
cloud_it->g = 128;
cloud_it->b = 128;
}
break;
case 5:
cloud_it->r = point_color.red();
cloud_it->g = point_color.green();
cloud_it->b = point_color.blue();
break;
default:
// Blue -> Green -> Red (~ rainbow)
cloud_it->r =
value > 128 ? (value - 128) * 2 : 0; // r[128] = 0, r[255] = 255
cloud_it->g =
value < 128
? 2 * value
: 255 - ((value - 128) * 2); // g[0] = 0, g[128] = 255, g[255] = 0
cloud_it->b =
value < 128 ? 255 - (2 * value) : 0; // b[0] = 255, b[128] = 0
}
}
}
void
PCLVisualizer::on_actionUp_triggered()
{
if (!cloud_->empty()) {
viewer_->setCameraPosition(0.5 * (p_min.x + p_max.x),
0.5 * (p_min.y + p_max.y),
p_max.z + 2 * maxLen,
0.5 * (p_min.x + p_max.x),
0.5 * (p_min.y + p_max.y),
p_max.z,
0,
1,
0);
ui->qvtkWidget->update();
}
}
void
PCLVisualizer::on_actionBottom_triggered()
{
if (!cloud_->empty()) {
viewer_->setCameraPosition(0.5 * (p_min.x + p_max.x),
0.5 * (p_min.y + p_max.y),
p_min.z - 2 * maxLen,
0.5 * (p_min.x + p_max.x),
0.5 * (p_min.y + p_max.y),
p_min.z,
0,
1,
0);
ui->qvtkWidget->update();
}
}
void
PCLVisualizer::on_actionFront_triggered()
{
if (!cloud_->empty()) {
viewer_->setCameraPosition(0.5 * (p_min.x + p_max.x),
p_min.y - 2 * maxLen,
0.5 * (p_min.z + p_max.z),
0.5 * (p_min.x + p_max.x),
p_min.y,
0.5 * (p_min.z + p_max.z),
0,
0,
1);
ui->qvtkWidget->update();
}
}
void
PCLVisualizer::on_actionBack_triggered()
{
if (!cloud_->empty()) {
viewer_->setCameraPosition(0.5 * (p_min.x + p_max.x),
p_max.y + 2 * maxLen,
0.5 * (p_min.z + p_max.z),
0.5 * (p_min.x + p_max.x),
p_min.y,
0.5 * (p_min.z + p_max.z),
0,
0,
1);
ui->qvtkWidget->update();
}
}
void
PCLVisualizer::on_actionLeft_triggered()
{
if (!cloud_->empty()) {
viewer_->setCameraPosition(p_min.x - 2 * maxLen,
0.5 * (p_min.y + p_max.y),
0.5 * (p_min.z + p_max.z),
p_max.x,
0.5 * (p_min.y + p_max.y),
0.5 * (p_min.z + p_max.z),
0,
0,
1);
ui->qvtkWidget->update();
}
}
void
PCLVisualizer::on_actionRight_triggered()
{
if (!cloud_->empty()) {
viewer_->setCameraPosition(p_max.x + 2 * maxLen,
0.5 * (p_min.y + p_max.y),
0.5 * (p_min.z + p_max.z),
p_max.x,
0.5 * (p_min.y + p_max.y),
0.5 * (p_min.z + p_max.z),
0,
0,
1);
ui->qvtkWidget->update();
}
}
double
PCLVisualizer::getMinValue(PointT p1, PointT p2)
{
double min = 0;
if (p1.x - p2.x > p1.y - p2.y) {
min = p1.y - p2.y;
} else {
min = p1.x - p2.x;
}
if (min > p1.z - p2.z) {
min = p1.z - p2.z;
}
return min;
}
double
PCLVisualizer::getMaxValue(PointT p1, PointT p2)
{
double max = 0;
if (p1.x - p2.x > p1.y - p2.y) {
max = p1.x - p2.x;
} else {
max = p1.y - p2.y;
}
if (max < p1.z - p2.z) {
max = p1.z - p2.z;
}
return max;
}
void
PCLVisualizer::openProgressDlg(int num = 500)
{
//创建一个进度对话框
QProgressDialog* progressDialog = new QProgressDialog(this);
QFont font("ZYSong18030", 12);
progressDialog->setFont(font);
progressDialog->setWindowModality(Qt::WindowModal); //(d)
progressDialog->setMinimumDuration(5); //(e)
progressDialog->setWindowTitle(tr("Please Wait")); //(f)
progressDialog->setLabelText(tr("Processing...")); //(g)
progressDialog->setCancelButtonText(tr("Cancel")); //(h)
progressDialog->setRange(0, num); //设置进度对话框的步进范围
for (int i = 1; i < num + 1; i++) {
Sleep(10);
progressDialog->setValue(i); //(i)
if (progressDialog->wasCanceled()) //(j)
return;
}
}
void
PCLVisualizer::updateCloudInfo()
{
// TODO 暂时只更新点云数量
ui->pointCountEdt->setText(QString::number(cloud_->points.size()));
}
void
PCLVisualizer::best_filter()
{
pcl::console::TicToc time;
//创建一个进度对话框
QProgressDialog* progressDialog = new QProgressDialog(this);
QFont font("ZYSong18030", 12);
progressDialog->setFont(font);