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cloudviewer.cpp
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#include "cloudviewer.h"
CloudViewer::CloudViewer(QWidget *parent)
: QMainWindow(parent)
{
ui.setupUi(this);
/***** Slots connection of QMenuBar and QToolBar *****/
// File (connect)
QObject::connect(ui.openAction, &QAction::triggered, this, &CloudViewer::open);
QObject::connect(ui.addAction, &QAction::triggered, this, &CloudViewer::add);
QObject::connect(ui.clearAction, &QAction::triggered, this, &CloudViewer::clear);
QObject::connect(ui.saveAction, &QAction::triggered, this, &CloudViewer::save);
QObject::connect(ui.saveBinaryAction, &QAction::triggered, this, &CloudViewer::saveBinary);
QObject::connect(ui.changeAction, &QAction::triggered, this, &CloudViewer::change);
QObject::connect(ui.exitAction, &QAction::triggered, this, &CloudViewer::exit);
// Display (connect)
QObject::connect(ui.pointcolorAction, &QAction::triggered, this, &CloudViewer::pointcolorChanged);
QObject::connect(ui.bgcolorAction, &QAction::triggered, this, &CloudViewer::bgcolorChanged);
QObject::connect(ui.mainviewAction, &QAction::triggered, this, &CloudViewer::mainview);
QObject::connect(ui.leftviewAction, &QAction::triggered, this, &CloudViewer::leftview);
QObject::connect(ui.topviewAction, &QAction::triggered, this, &CloudViewer::topview);
// View (connect)
QObject::connect(ui.dataAction, &QAction::triggered, this, &CloudViewer::data);
QObject::connect(ui.propertyAction, &QAction::triggered, this, &CloudViewer::properties);
QObject::connect(ui.consoleAction, &QAction::triggered, this, &CloudViewer::console);
QObject::connect(ui.RGBAction, &QAction::triggered, this, &CloudViewer::rgbDock);
// Generate (connect)
QObject::connect(ui.cubeAction, &QAction::triggered, this, &CloudViewer::cube);
QObject::connect(ui.sphereAction, &QAction::triggered, this, &CloudViewer::createSphere);
QObject::connect(ui.cylinderAction, &QAction::triggered, this, &CloudViewer::createCylinder);
// Process (connect)
QObject::connect(ui.meshsurfaceAction, &QAction::triggered, this, &CloudViewer::convertSurface);
QObject::connect(ui.wireframeAction, &QAction::triggered, this, &CloudViewer::convertWireframe);
// Option (connect)
QObject::connect(ui.windowsThemeAction, &QAction::triggered, this, &CloudViewer::windowsTheme);
QObject::connect(ui.darculaThemeAction, &QAction::triggered, this, &CloudViewer::darculaTheme);
QObject::connect(ui.englishAction, &QAction::triggered, this, &CloudViewer::langEnglish);
QObject::connect(ui.chineseAction, &QAction::triggered, this, &CloudViewer::langChinese);
// About (connect)
QObject::connect(ui.aboutAction, &QAction::triggered, this, &CloudViewer::about);
QObject::connect(ui.helpAction, &QAction::triggered, this, &CloudViewer::help);
/***** Slots connection of RGB widget *****/
// Random color (connect)
connect(ui.colorBtn, SIGNAL(clicked()), this, SLOT(colorBtnPressed()));
// Connection between RGB slider and RGB value (connect)
connect(ui.rSlider, SIGNAL(valueChanged(int)), this, SLOT(rSliderChanged(int)));
connect(ui.gSlider, SIGNAL(valueChanged(int)), this, SLOT(gSliderChanged(int)));
connect(ui.bSlider, SIGNAL(valueChanged(int)), this, SLOT(bSliderChanged(int)));
// RGB slider released (connect)
connect(ui.rSlider, SIGNAL(sliderReleased()), this, SLOT(RGBsliderReleased()));
connect(ui.gSlider, SIGNAL(sliderReleased()), this, SLOT(RGBsliderReleased()));
connect(ui.bSlider, SIGNAL(sliderReleased()), this, SLOT(RGBsliderReleased()));
// Change size of cloud (connect)
connect(ui.pSlider, SIGNAL(valueChanged(int)), this, SLOT(pSliderChanged(int)));
connect(ui.pSlider, SIGNAL(sliderReleased()), this, SLOT(psliderReleased()));
// Checkbox for coordinate and background color (connect)
connect(ui.cooCbx, SIGNAL(stateChanged(int)), this, SLOT(cooCbxChecked(int)));
connect(ui.bgcCbx, SIGNAL(stateChanged(int)), this, SLOT(bgcCbxChecked(int)));
/***** Slots connection of dataTree(QTreeWidget) widget *****/
// Item in dataTree is left-clicked (connect)
connect(ui.dataTree, SIGNAL(itemClicked(QTreeWidgetItem*, int)), this, SLOT(itemSelected(QTreeWidgetItem*, int)));
// Item in dataTree is right-clicked
connect(ui.dataTree, SIGNAL(customContextMenuRequested(const QPoint&)), this, SLOT(popMenu(const QPoint&)));
connect(ui.consoleTable, SIGNAL(customContextMenuRequested(const QPoint&)), this, SLOT(popMenuInConsole(const QPoint&)));
// Initialization
initial();
}
CloudViewer::~CloudViewer()
{
}
// Open point cloud
void CloudViewer::open()
{
QStringList filenames = QFileDialog::getOpenFileNames(this, tr("Open point cloud file"), QString::fromLocal8Bit(mycloud.dirname.c_str()), tr("Point cloud data(*.pcd *.ply *.obj);;All file(*.*)"));
//Return if filenames is empty
if (filenames.isEmpty())
return;
// Clear cache
mycloud_vec.clear();
total_points = 0;
ui.dataTree->clear();
viewer->removeAllPointClouds();
// Open point cloud one by one
for (int i = 0; i != filenames.size(); i++){
// time start
timeStart();
mycloud.cloud.reset(new PointCloudT); // Reset cloud
QString filename = filenames[i];
std::string file_name = filename.toStdString();
std::string subname = getFileName(file_name); //提取全路径中的文件名（带后缀）
//更新状态栏
ui.statusBar->showMessage(QString::fromLocal8Bit(subname.c_str()) + ": " + QString::number(i) + "/" + QString::number(filenames.size()) + " point cloud loading...");
int status = -1;
if (filename.endsWith(".pcd", Qt::CaseInsensitive))
{
status = pcl::io::loadPCDFile(file_name, *(mycloud.cloud));
if (mycloud.cloud->points[0].r == 0 && mycloud.cloud->points[0].g == 0 && mycloud.cloud->points[0].b == 0)
{
setCloudColor(255, 255, 255);
}
}
else if (filename.endsWith(".ply", Qt::CaseInsensitive))
{
status = pcl::io::loadPLYFile(file_name, *(mycloud.cloud));
if (mycloud.cloud->points[0].r == 0 && mycloud.cloud->points[0].g == 0 && mycloud.cloud->points[0].b == 0)
{
setCloudColor(255, 255, 255);
}
}
else if (filename.endsWith(".obj", Qt::CaseInsensitive))
{
status = pcl::io::loadOBJFile(file_name, *(mycloud.cloud));
if (mycloud.cloud->points[0].r == 0 && mycloud.cloud->points[0].g == 0 && mycloud.cloud->points[0].b == 0)
{
setCloudColor(255, 255, 255);
}
}
else
{
//提示：无法读取除了.ply .pcd .obj以外的文件
QMessageBox::information(this, tr("File format error"),
tr("Can't open files except .ply .pcd .obj"));
return;
}
//提示：后缀没问题，但文件内容无法读取
if (status != 0)
{
QMessageBox::critical(this, tr("Reading file error"), tr("We can not open the file"));
return;
}
setA(255); //设置点云为不透明
// 最后导入的点云的信息
mycloud.filename = file_name;
mycloud.subname = subname;
mycloud.dirname = file_name.substr(0, file_name.size() - subname.size());
mycloud_vec.push_back(mycloud); //将点云导入点云容器
// time off
time_cost = timeOff();
// 输出窗口
consoleLog("Open", QString::fromLocal8Bit(mycloud.subname.c_str()), QString::fromLocal8Bit(mycloud.filename.c_str()), "Time cost: " + time_cost + " s, Points: " + QString::number(mycloud.cloud->points.size()));
//更新资源管理树
QTreeWidgetItem *cloudName = new QTreeWidgetItem(QStringList()
<< QString::fromLocal8Bit(subname.c_str()));
cloudName->setIcon(0, QIcon(":/Resources/images/icon.png"));
ui.dataTree->addTopLevelItem(cloudName);
//setWindowTitle(filename + " - CloudViewer"); //更新标题
total_points += mycloud.cloud->points.size();
}
ui.statusBar->showMessage("");
showPointcloudAdd(); //更新视图窗口
setPropertyTable();
}
// Add Point Cloud
void CloudViewer::add()
{
QStringList filenames = QFileDialog::getOpenFileNames(this, tr("Open point cloud file"), QString::fromLocal8Bit(mycloud.dirname.c_str()), tr("Point cloud data(*.pcd *.ply *.obj);;All file(*.*)"));
if (filenames.isEmpty())
return;
for (int i = 0; i != filenames.size(); i++){
// time start
timeStart();
mycloud.cloud.reset(new PointCloudT);
QString filename = filenames[i];
std::string file_name = filename.toStdString();
std::string subname = getFileName(file_name);
// 更新状态栏
ui.statusBar->showMessage(QString::fromLocal8Bit(subname.c_str()) + ": " + QString::number(i) + "/" + QString::number(filenames.size()) + " point cloud loading...");
int status = -1;
if (filename.endsWith(".pcd", Qt::CaseInsensitive))
{
status = pcl::io::loadPCDFile(file_name, *(mycloud.cloud));
if (mycloud.cloud->points[0].r == 0 && mycloud.cloud->points[0].g == 0 && mycloud.cloud->points[0].b == 0)
{
setCloudColor(255, 255, 255);
}
}
else if (filename.endsWith(".ply", Qt::CaseInsensitive))
{
status = pcl::io::loadPLYFile(file_name, *(mycloud.cloud));
if (mycloud.cloud->points[0].r == 0 && mycloud.cloud->points[0].g == 0 && mycloud.cloud->points[0].b == 0)
{
setCloudColor(255, 255, 255);
}
}
else if (filename.endsWith(".obj", Qt::CaseInsensitive))
{
status = pcl::io::loadOBJFile(file_name, *(mycloud.cloud));
if (mycloud.cloud->points[0].r == 0 && mycloud.cloud->points[0].g == 0 && mycloud.cloud->points[0].b == 0)
{
setCloudColor(255, 255, 255);
}
}
else
{
//提示：无法读取除了.ply .pcd .obj以外的文件
QMessageBox::information(this, tr("File format error"), tr("Can't open files except .ply .pcd .obj"));
return;
}
//提示：后缀没问题，但文件内容无法读取
if (status != 0)
{
QMessageBox::critical(this, tr("Reading file error"), tr("We can not open the file"));
return;
}
setA(255); //设置点云为不透明
mycloud.filename = file_name;
mycloud.subname = subname;
mycloud.dirname = file_name.substr(0, file_name.size() - subname.size());
mycloud_vec.push_back(mycloud); //将点云导入点云容器
// time of
time_cost = timeOff();
//输出窗口
consoleLog("Add", QString::fromLocal8Bit(mycloud.subname.c_str()), QString::fromLocal8Bit(mycloud.filename.c_str()), "Time cost: " + time_cost + " s, Points: " + QString::number(mycloud.cloud->points.size()));
//设置资源管理器
QTreeWidgetItem *cloudName = new QTreeWidgetItem(QStringList() << QString::fromLocal8Bit(subname.c_str()));
cloudName->setIcon(0, QIcon(":/Resources/images/icon.png"));
ui.dataTree->addTopLevelItem(cloudName);
//setWindowTitle("CloudViewer");
total_points += mycloud.cloud->points.size();
}
ui.statusBar->showMessage("");
showPointcloudAdd();
setPropertyTable();
}
// Clear all point clouds
void CloudViewer::clear()
{
mycloud_vec.clear(); //从点云容器中移除所有点云
viewer->removeAllPointClouds(); //从viewer中移除所有点云
viewer->removeAllShapes(); //这个remove更彻底
ui.dataTree->clear(); //将dataTree清空
ui.propertyTable->clear(); //清空属性窗口propertyTable
QStringList header;
header << "Property" << "Value";
ui.propertyTable->setHorizontalHeaderLabels(header);
//输出窗口
consoleLog("Clear", "All point clouds", "", "");
setWindowTitle("CloudViewer"); //更新窗口标题
showPointcloud(); //更新显示
}
// Save point cloud
void CloudViewer::save()
{
save_filename = QFileDialog::getSaveFileName(this, tr("Save point cloud"),
QString::fromLocal8Bit(mycloud.dirname.c_str()), tr("Point cloud data(*.pcd *.ply);;Allfile(*.*)"));
std::string file_name = save_filename.toStdString();
std::string subname = getFileName(file_name);
//文件名为空直接返回
if (save_filename.isEmpty())
return;
if (mycloud_vec.size() > 1)
{
savemulti();
return;
}
int status = -1;
if (save_filename.endsWith(".pcd", Qt::CaseInsensitive))
{
status = pcl::io::savePCDFile(file_name, *(mycloud.cloud));
}
else if (save_filename.endsWith(".ply", Qt::CaseInsensitive))
{
status = pcl::io::savePLYFile(file_name, *(mycloud.cloud));
}
else //提示：无法保存为除了.ply .pcd以外的文件
{
QMessageBox::information(this, tr("File format error"),
tr("Can't save files except .ply .pcd"));
return;
}
//提示：后缀没问题，但是无法保存
if (status != 0)
{
QMessageBox::critical(this, tr("Saving file error"),
tr("We can not save the file"));
return;
}
//输出窗口
consoleLog("Save", QString::fromLocal8Bit(subname.c_str()), save_filename, "Single save");
setWindowTitle(save_filename + " - CloudViewer");
QMessageBox::information(this, tr("save point cloud file"),
QString::fromLocal8Bit(("Save " + subname + " successfully!").c_str()));
}
// Save point cloud as binary file
void CloudViewer::saveBinary()
{
save_filename = QFileDialog::getSaveFileName(this, tr("Save point cloud as binary file"),
QString::fromLocal8Bit(mycloud.dirname.c_str()), tr("Point cloud data(*.pcd *.ply);;Allfile(*.*)"));
std::string file_name = save_filename.toStdString();
std::string subname = getFileName(file_name);
//文件名为空直接返回
if (save_filename.isEmpty())
return;
if (mycloud_vec.size() > 1)
{
savemulti();
return;
}
int status = -1;
if (save_filename.endsWith(".pcd", Qt::CaseInsensitive))
{
status = pcl::io::savePCDFileBinary(file_name, *(mycloud.cloud));
}
else if (save_filename.endsWith(".ply", Qt::CaseInsensitive))
{
status = pcl::io::savePLYFileBinary(file_name, *(mycloud.cloud));
}
else //提示：无法保存为除了.ply .pcd以外的文件
{
QMessageBox::information(this, tr("File format error"),
tr("Can't save files except .ply .pcd"));
return;
}
//提示：后缀没问题，但是无法保存
if (status != 0)
{
QMessageBox::critical(this, tr("Saving file error"),
tr("We can not save the file"));
return;
}
//输出窗口
consoleLog("Save as binary", QString::fromLocal8Bit(subname.c_str()), save_filename, "Single save (binary)");
setWindowTitle(save_filename + " - CloudViewer");
QMessageBox::information(this, tr("save point cloud file"),
QString::fromLocal8Bit(("Save " + subname + " successfully!").c_str()));
}
// Save multi point cloud
void CloudViewer::savemulti()
{
std::string subname = getFileName(save_filename.toStdString());
PointCloudT::Ptr multi_cloud;
multi_cloud.reset(new PointCloudT);
multi_cloud->height = 1;
int sum = 0;
for (auto c : mycloud_vec)
{
sum += c.cloud->points.size();
}
multi_cloud->width = sum;
multi_cloud->resize(multi_cloud->height * multi_cloud->width);
int k = 0;
for (int i = 0; i != mycloud_vec.size(); i++)
{
for (int j = 0; j != mycloud_vec[i].cloud->points.size(); j++) //注意cloudvec[i]->points.size()和cloudvec[i]->size()的区别
{
multi_cloud->points[k].x = mycloud_vec[i].cloud->points[j].x;
multi_cloud->points[k].y = mycloud_vec[i].cloud->points[j].y;
multi_cloud->points[k].z = mycloud_vec[i].cloud->points[j].z;
multi_cloud->points[k].r = mycloud_vec[i].cloud->points[j].r;
multi_cloud->points[k].g = mycloud_vec[i].cloud->points[j].g;
multi_cloud->points[k].b = mycloud_vec[i].cloud->points[j].b;
k++;
}
}
//保存multi_cloud
int status = -1;
if (save_filename.endsWith(".pcd", Qt::CaseInsensitive))
{
if (save_as_binary){
status = pcl::io::savePCDFileBinary(save_filename.toStdString(), *multi_cloud);
}
else{
status = pcl::io::savePCDFile(save_filename.toStdString(), *multi_cloud);
}
}
else if (save_filename.endsWith(".ply", Qt::CaseInsensitive))
{
if (save_as_binary){
status = pcl::io::savePLYFileBinary(save_filename.toStdString(), *multi_cloud);
}
else{
status = pcl::io::savePLYFile(save_filename.toStdString(), *multi_cloud);
}
}
else //提示：无法保存为除了.ply .pcd以外的文件
{
QMessageBox::information(this, tr("File format error"), tr("Can't save files except .ply .pcd"));
return;
}
//提示：后缀没问题，但是无法保存
if (status != 0)
{
QMessageBox::critical(this, tr("Saving file error"), tr("We can not save the file"));
return;
}
// 输出窗口
if (save_as_binary){
consoleLog("Save as binary", QString::fromLocal8Bit(subname.c_str()), save_filename, "Multi save (binary)");
}
else{
consoleLog("Save", QString::fromLocal8Bit(subname.c_str()), save_filename, "Multi save");
}
save_as_binary = false;
//将保存后的 multi_cloud 设置为当前 mycloud,以便保存之后直接进行操作
mycloud.cloud = multi_cloud;
mycloud.filename = save_filename.toStdString();
mycloud.subname = subname;
setWindowTitle(save_filename + " - CloudViewer");
QMessageBox::information(this, tr("save point cloud file"), QString::fromLocal8Bit(("Save " + subname + " successfully!").c_str()));
}
//格式转换
void CloudViewer::change()
{
}
//退出程序
void CloudViewer::exit()
{
this->close();
}
// Generate cube
void CloudViewer::cube()
{
mycloud.cloud.reset(new PointCloudT);
total_points = 0;
ui.dataTree->clear(); //清空资源管理器的item
viewer->removeAllPointClouds(); //从viewer中移除所有点云
mycloud_vec.clear(); //清空点云容器
mycloud.cloud->width = 50000; // 设置点云宽
mycloud.cloud->height = 1; // 设置点云高，高为1，说明为无组织点云
mycloud.cloud->is_dense = false;
mycloud.cloud->resize(mycloud.cloud->width * mycloud.cloud->height); // 重置点云大小
for (size_t i = 0; i != mycloud.cloud->size(); ++i)
{
mycloud.cloud->points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
mycloud.cloud->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
mycloud.cloud->points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
mycloud.cloud->points[i].r = red;
mycloud.cloud->points[i].g = green;
mycloud.cloud->points[i].b = blue;
}
//设置资源管理器
QTreeWidgetItem *cloudName = new QTreeWidgetItem(QStringList() << QString::fromLocal8Bit("cube"));
cloudName->setIcon(0, QIcon(":/Resources/images/icon.png"));
ui.dataTree->addTopLevelItem(cloudName);
// 输出窗口
consoleLog("Generate cube", "cube", "cube", "");
mycloud_vec.push_back(mycloud);
showPointcloudAdd();
}
//初始化
void CloudViewer::initial()
{
//界面初始化
setWindowIcon(QIcon(tr(":/Resources/images/icon.png")));
setWindowTitle(tr("CloudViewer"));
//点云初始化
mycloud.cloud.reset(new PointCloudT);
mycloud.cloud->resize(1);
viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));
//viewer->addPointCloud(cloud, "cloud");
ui.screen->SetRenderWindow(viewer->getRenderWindow());
viewer->setupInteractor(ui.screen->GetInteractor(), ui.screen->GetRenderWindow());
ui.screen->update();
ui.propertyTable->setSelectionMode(QAbstractItemView::NoSelection); // 禁止点击属性管理器的 item
ui.consoleTable->setSelectionMode(QAbstractItemView::NoSelection); // 禁止点击输出窗口的 item
ui.dataTree->setSelectionMode(QAbstractItemView::ExtendedSelection); // 允许 dataTree 进行多选
// 设置默认主题
QString qss = darcula_qss;
qApp->setStyleSheet(qss);
setPropertyTable();
setConsoleTable();
// 输出窗口
consoleLog("Software start", "CloudViewer", "Welcome to use CloudViewer", "Nightn");
// 设置背景颜色为 dark
viewer->setBackgroundColor(30 / 255.0, 30 / 255.0, 30 / 255.0);
}
//显示点云，不重置相机角度
void CloudViewer::showPointcloud()
{
for (int i = 0; i != mycloud_vec.size(); i++)
{
viewer->updatePointCloud(mycloud_vec[i].cloud, "cloud" + QString::number(i).toStdString());
}
//viewer->resetCamera();
ui.screen->update();
}
//添加点云到viewer,并显示点云
void CloudViewer::showPointcloudAdd()
{
for (int i = 0; i != mycloud_vec.size(); i++)
{
viewer->addPointCloud(mycloud_vec[i].cloud, "cloud" + QString::number(i).toStdString());
viewer->updatePointCloud(mycloud_vec[i].cloud, "cloud" + QString::number(i).toStdString());
}
viewer->resetCamera();
ui.screen->update();
}
void CloudViewer::setCloudColor(unsigned int r, unsigned int g, unsigned int b)
{
// Set the new color
for (size_t i = 0; i < mycloud.cloud->size(); i++)
{
mycloud.cloud->points[i].r = r;
mycloud.cloud->points[i].g = g;
mycloud.cloud->points[i].b = b;
mycloud.cloud->points[i].a = 255;
}
}
void CloudViewer::setA(unsigned int a)
{
for (size_t i = 0; i < mycloud.cloud->size(); i++)
{
mycloud.cloud->points[i].a = a;
}
}
//关于
void CloudViewer::about()
{
AboutWin *aboutwin = new AboutWin(this);
aboutwin->setModal(true);
aboutwin->show();
// 输出窗口
consoleLog("About", "Nightn", "http://nightn.com", "Welcome to my blog!");
}
//帮助
void CloudViewer::help()
{
QDesktopServices::openUrl(QUrl(QLatin1String("http://nightn.com/cloudviewer")));
// 输出窗口
consoleLog("Help", "Cloudviewer help", "http://nightn.com/cloudviewer", "");
//QMessageBox::information(this, "Help", "we are building help widget...");
}
//设置停靠窗口的显示与隐藏
void CloudViewer::data()
{
if (ui.dataAction->isChecked())
{
ui.dataDock->setVisible(true);
}
else
{
ui.dataDock->setVisible(false);
}
}
void CloudViewer::properties()
{
if (ui.propertyAction->isChecked())
{
ui.propertyDock->setVisible(true);
}
else
{
ui.propertyDock->setVisible(false);
}
}
void CloudViewer::console()
{
if (ui.consoleAction->isChecked())
{
ui.consoleDock->setVisible(true);
}
else
{
ui.consoleDock->setVisible(false);
}
}
void CloudViewer::rgbDock()
{
if (ui.RGBAction->isChecked())
{
ui.RGBDock->setVisible(true);
}
else
{
ui.RGBDock->setVisible(false);
}
}
//绘制基本图形
void CloudViewer::createSphere()
{
mycloud.cloud.reset(new PointCloudT);
ui.dataTree->clear(); //清空资源管理器的item
viewer->removeAllShapes();
mycloud_vec.clear(); //清空点云容器
pcl::PointXYZ p;
p.x = 0; p.y = 0; p.z = 0;
viewer->addSphere(p, 100, "sphere1");
viewer->resetCamera();
ui.screen->update();
// 输出窗口
consoleLog("Create sphere", "Sphere", "", "Succeeded");
}
void CloudViewer::createCylinder()
{
mycloud.cloud.reset(new PointCloudT);
ui.dataTree->clear(); //清空资源管理器的item
viewer->removeAllShapes();
mycloud_vec.clear(); //清空点云容器
viewer->addCylinder(*(new pcl::ModelCoefficients()), "cylinder");
viewer->resetCamera();
ui.screen->update();
// 输出窗口
consoleLog("Create cylinder", "Cylinder", "", "Failed");
}
// Change theme: Windows/Darcula
void CloudViewer::windowsTheme(){
/*
QFile qssFile("Resources/qss/Windows.qss"); //资源文件":/Darcula.qss"
qssFile.open(QFile::ReadOnly);
if (qssFile.isOpen())
{
QString qss = QLatin1String(qssFile.readAll());
//consoleLog("", "", "", qss);
qApp->setStyleSheet(qss);
qssFile.close();
}
*/
QString qss = windows_qss;
qApp->setStyleSheet(qss);
//改变 dataTree 字体颜色，以适应主题的笨办法
QColor light_color(241, 241, 241, 255);
QColor dark_color(0, 0, 0, 255);
for (int i = 0; i != mycloud_vec.size(); i++){
if (ui.dataTree->topLevelItem(i)->textColor(0) == light_color){
ui.dataTree->topLevelItem(i)->setTextColor(0, dark_color);
}
}
// 输出窗口
consoleLog("Change theme", "Windows theme", "", "");
theme_id = 0;
}
void CloudViewer::darculaTheme(){
/*
QFile qssFile("Resources/qss/Darcula.qss"); //资源文件":/Darcula.qss"
qssFile.open(QFile::ReadOnly);
if (qssFile.isOpen())
{
QString qss = QLatin1String(qssFile.readAll());
//cout << qss.toStdString();
consoleLog("", "", "", qss);
qApp->setStyleSheet(qss);
qssFile.close();
}
*/
QString qss = darcula_qss;
qApp->setStyleSheet(qss);
//改变 dataTree 字体颜色，以适应主题的笨办法
QColor light_color(241, 241, 241, 255);
QColor dark_color(0, 0, 0, 255);
for (int i = 0; i != mycloud_vec.size(); i++){
if (ui.dataTree->topLevelItem(i)->textColor(0) == dark_color){
ui.dataTree->topLevelItem(i)->setTextColor(0, light_color);
}
}
// 输出窗口
consoleLog("Change theme", "Darcula theme", "", "");
theme_id = 1;
}
// Change language: English/Chinese
void CloudViewer::langEnglish(){
// 输出窗口
consoleLog("Change language", "English", "", "");
}
void CloudViewer::langChinese(){
// 输出窗口
consoleLog("Change language", "Chinese", "Doesn't support Chinese temporarily", "");
}
/*********************************************/
/*****************界面槽函数*****************/
/********************************************/
void CloudViewer::colorBtnPressed()
{
QList<QTreeWidgetItem*> itemList = ui.dataTree->selectedItems();
int selected_item_count = ui.dataTree->selectedItems().size();
// 如果未选中任何点云，则对视图窗口中的所有点云进行着色
if (selected_item_count == 0){
for (int i = 0; i != mycloud_vec.size(); i++){
for (int j = 0; j != mycloud_vec[i].cloud->points.size(); j++){
mycloud_vec[i].cloud->points[j].r = 255 * (1024 * rand() / (RAND_MAX + 1.0f));
mycloud_vec[i].cloud->points[j].g = 255 * (1024 * rand() / (RAND_MAX + 1.0f));
mycloud_vec[i].cloud->points[j].b = 255 * (1024 * rand() / (RAND_MAX + 1.0f));
}
}
// 输出窗口
consoleLog("Random color", "All point clous", "", "");
}
else{
for (int i = 0; i != selected_item_count; i++){
int cloud_id = ui.dataTree->indexOfTopLevelItem(itemList[i]);
for (int j = 0; j != mycloud_vec[cloud_id].cloud->size(); j++){
mycloud_vec[cloud_id].cloud->points[j].r = red;
mycloud_vec[cloud_id].cloud->points[j].g = 255 * (1024 * rand() / (RAND_MAX + 1.0f));
mycloud_vec[cloud_id].cloud->points[j].b = 255 * (1024 * rand() / (RAND_MAX + 1.0f));
}
}
// 输出窗口
consoleLog("Random color", "Point clouds selected", "", "");
}
showPointcloud();
}
void CloudViewer::RGBsliderReleased()
{
QList<QTreeWidgetItem*> itemList = ui.dataTree->selectedItems();
int selected_item_count = ui.dataTree->selectedItems().size();
// 如果未选中任何点云，则对视图窗口中的所有点云进行着色
if (selected_item_count == 0){
for (int i = 0; i != mycloud_vec.size(); i++){
for (int j = 0; j != mycloud_vec[i].cloud->points.size(); j++){
mycloud_vec[i].cloud->points[j].r = red;
mycloud_vec[i].cloud->points[j].g = green;
mycloud_vec[i].cloud->points[j].b = blue;
}
}
// 输出窗口
consoleLog("Change cloud color", "All point clouds", QString::number(red) + " " + QString::number(green) + " " + QString::number(blue), "");
}
else{
for (int i = 0; i != selected_item_count; i++){
int cloud_id = ui.dataTree->indexOfTopLevelItem(itemList[i]);
for (int j = 0; j != mycloud_vec[cloud_id].cloud->size(); j++){
mycloud_vec[cloud_id].cloud->points[j].r = red;
mycloud_vec[cloud_id].cloud->points[j].g = green;
mycloud_vec[cloud_id].cloud->points[j].b = blue;
}
}
// 输出窗口
consoleLog("Change cloud color", "Point clouds selected", QString::number(red) + " " + QString::number(green) + " " + QString::number(blue), "");
}
showPointcloud();
}
//设置所有点云的尺寸
void CloudViewer::psliderReleased()
{
QList<QTreeWidgetItem*> itemList = ui.dataTree->selectedItems();
int selected_item_count = ui.dataTree->selectedItems().size();
if (selected_item_count == 0){
for (int i = 0; i != mycloud_vec.size(); i++){
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE,
p, "cloud" + QString::number(i).toStdString());
}
// 输出窗口
consoleLog("Change cloud size", "All point clouds", "Size: " + QString::number(p), "");
}
else{
for (int i = 0; i != selected_item_count; i++){
int cloud_id = ui.dataTree->indexOfTopLevelItem(itemList[i]);
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE,
p, "cloud" + QString::number(cloud_id).toStdString());
}
// 输出窗口
consoleLog("Change cloud size", "Point clouds selected", "Size: " + QString::number(p), "");
}
ui.screen->update();
}
void CloudViewer::pSliderChanged(int value)
{
p = value;
ui.sizeLCD->display(value);
}
void CloudViewer::rSliderChanged(int value)
{
red = value;
ui.rLCD->display(value);
}
void CloudViewer::gSliderChanged(int value)
{
green = value;
ui.gLCD->display(value);
}
void CloudViewer::bSliderChanged(int value)
{
blue = value;
ui.bLCD->display(value);
}
void CloudViewer::cooCbxChecked(int value)
{
switch (value)
{
case 0:
viewer->removeCoordinateSystem(); //移除坐标系
// 输出窗口
consoleLog("Remove coordinate system", "Remove", "", "");
break;
case 2:
viewer->addCoordinateSystem(); //添加坐标系
// 输出窗口
consoleLog("Add coordinate system", "Add", "", "");
break;
}
//viewer->updatePointCloud(cloud, "cloud");
ui.screen->update();
}
void CloudViewer::bgcCbxChecked(int value)
{
switch (value)
{
case 0:
viewer->setBackgroundColor(30 / 255.0, 30 / 255.0, 30 / 255.0);
// 输出窗口
consoleLog("Change bg color", "Background", "30 30 30", "");
break;
case 2:
//！注意：setBackgroundColor()接收的是0-1的double型参数
viewer->setBackgroundColor(240 / 255.0, 240 / 255.0, 240 / 255.0);
// 输出窗口
consoleLog("Change bg color", "Background", "240 240 240", "");
break;
}
//viewer->updatePointCloud(cloud, "cloud");
ui.screen->update();
}
//通过颜色对话框改变点云颜色
void CloudViewer::pointcolorChanged()
{
QColor color = QColorDialog::getColor(Qt::white, this, "Select color for point cloud");
if (color.isValid()) //判断所选的颜色是否有效
{
//QAction* action = dynamic_cast<QAction*>(sender());
//if (action != ui.pointcolorAction) //改变颜色的信号来自于 dataTree
QList<QTreeWidgetItem*> itemList = ui.dataTree->selectedItems();
int selected_item_count = ui.dataTree->selectedItems().size();
if (selected_item_count == 0){
for (int i = 0; i != mycloud_vec.size(); i++){
for (int j = 0; j != mycloud_vec[i].cloud->points.size(); j++){
mycloud_vec[i].cloud->points[j].r = color.red();
mycloud_vec[i].cloud->points[j].g = color.green();
mycloud_vec[i].cloud->points[j].b = color.blue();
}
}
// 输出窗口
consoleLog("Change cloud color", "All point clouds", QString::number(color.red()) + " " + QString::number(color.green()) + " " + QString::number(color.blue()), "");
}
else{
for (int i = 0; i != selected_item_count; i++){
int cloud_id = ui.dataTree->indexOfTopLevelItem(itemList[i]);
for (int j = 0; j != mycloud_vec[cloud_id].cloud->size(); j++){
mycloud_vec[cloud_id].cloud->points[j].r = color.red();
mycloud_vec[cloud_id].cloud->points[j].g = color.green();
mycloud_vec[cloud_id].cloud->points[j].b = color.blue();
}
}
// 输出窗口
consoleLog("Change cloud color", "Point clouds selected", QString::number(color.red()) + " " + QString::number(color.green()) + " " + QString::number(color.blue()), "");
}
//颜色的改变同步至RGB停靠窗口
ui.rSlider->setValue(color.red());
ui.gSlider->setValue(color.green());
ui.bSlider->setValue(color.blue());
showPointcloud();
}
}
//通过颜色对话框改变背景颜色
void CloudViewer::bgcolorChanged()
{
QColor color = QColorDialog::getColor(Qt::white, this,
"Select color for point cloud");
if (color.isValid())
{
viewer->setBackgroundColor(color.red() / 255.0,
color.green() / 255.0, color.blue() / 255.0);
// 输出窗口
consoleLog("Change bg color", "Background", QString::number(color.red()) + " " + QString::number(color.green()) + " " + QString::number(color.blue()), "");
showPointcloud();
}
}
//三视图
void CloudViewer::mainview()
{
viewer->setCameraPosition(0, -1, 0, 0.5, 0.5, 0.5, 0, 0, 1);
ui.screen->update();
}
void CloudViewer::leftview()
{
viewer->setCameraPosition(-1, 0, 0, 0, 0, 0, 0, 0, 1);
ui.screen->update();
}
void CloudViewer::topview()
{
viewer->setCameraPosition(0, 0, 1, 0, 0, 0, 0, 1, 0);
ui.screen->update();
}
//设置属性管理窗口
void CloudViewer::setPropertyTable(){
QStringList header;
header << "Property" << "Value";
ui.propertyTable->setHorizontalHeaderLabels(header);
ui.propertyTable->setItem(0, 0, new QTableWidgetItem("Clouds"));
ui.propertyTable->setItem(1, 0, new QTableWidgetItem("Points"));
ui.propertyTable->setItem(2, 0, new QTableWidgetItem("Total points"));
ui.propertyTable->setItem(3, 0, new QTableWidgetItem("RGB"));
ui.propertyTable->setItem(0, 1, new QTableWidgetItem(QString::number(mycloud_vec.size())));
ui.propertyTable->setItem(1, 1, new QTableWidgetItem(""));
ui.propertyTable->setItem(2, 1, new QTableWidgetItem(QString::number(total_points)));
ui.propertyTable->setItem(4, 1, new QTableWidgetItem(""));