qt界面优化 1、点云滤波操作优化 2、配准部分优化

#include "mainwindow.h" #include "ui_mainwindow.h" //创建菜单栏，工具栏，状态栏应当包含的头文件 #include <QMenuBar> #include <QMenu> #include <QToolBar> #include <QStatusBar> #include <QAbstractAnimation> MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent), ui(new Ui::MainWindow) { ui->setupUi(this); m_publicIconMap[TREE_ITEM_ICON_DataItem] = QIcon(QStringLiteral("Icons/folder.png")); model = new QStandardItemModel(ui->treeView); model->setHorizontalHeaderLabels(QStringList()<<QStringLiteral("--cloud--DB-Tree--")); ui->treeView->setHeaderHidden(true); ui->treeView->setModel(model); ui->treeView->setSelectionMode(QAbstractItemView::ExtendedSelection);//设置多选 /**************************************初始化******************************************/ //初始化PCL显示控件 viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false)); viewer->setBackgroundColor(0.56,0.6,0.623); ui->qvtkWidget->SetRenderWindow(viewer->getRenderWindow()); viewer->setupInteractor(ui->qvtkWidget->GetInteractor(), ui->qvtkWidget->GetRenderWindow()); ui->qvtkWidget->update(); /**************************************创建菜单******************************************/ QMenuBar *menu_bar = new QMenuBar(this); //创建一个菜单栏 this->setMenuBar(menu_bar); //设置为MainWindow的菜单栏 menu_bar->setStyleSheet("font-size : 18px"); QMenu *file_menu = new QMenu("文件",menu_bar); QMenu *visualization_menu=new QMenu("显示",menu_bar); QMenu *filter_menu=new QMenu("滤波",menu_bar); QMenu *registration_menu=new QMenu("配准",menu_bar); //**************************************菜单中创建动作******************************************// //文件下拉框 QAction *open_action = new QAction("读取"); QAction *save_action = new QAction("保存"); QAction *quit_action = new QAction("退出"); file_menu->addAction(open_action);//添加动作到文件菜单，QAction就会自动变成子菜单 file_menu->addAction(save_action); file_menu->addSeparator(); //添加菜单分隔符 file_menu->addAction(quit_action); //滤波 QAction *voxel_action=new QAction("体素滤波"); filter_menu->addAction(voxel_action); //配准 QAction *icp_action=new QAction("ICP"); registration_menu->addAction(icp_action); //***********************************菜单添加至菜单栏***************************************// menu_bar->addMenu(file_menu);//把菜单添加到菜单栏 menu_bar->addMenu(filter_menu);//滤波按钮 menu_bar->addMenu(registration_menu);//配准按钮 menu_bar->addMenu(visualization_menu); //***********************************connect设置*******************************************// //------------------------------------------------------------------ //文件 connect(open_action,SIGNAL(triggered()),this,SLOT(Open_clicked()));//读取文件 connect(save_action,SIGNAL(triggered()),this,SLOT(Save_clicked()));//保存文件 connect(quit_action,SIGNAL(triggered()),this,SLOT(close())); //------------------------------------------------------------------ //filter connect(voxel_action,SIGNAL(triggered()),this,SLOT(pressBtn_voxel())); //------------------------------------------------------------------ //registration connect(icp_action,SIGNAL(triggered()),this,SLOT(pressBtn_icp())); //visualization } MainWindow::~MainWindow() { delete ui; } //-------------------------------------function----------------------------------------------------// //读取有逗号的xyz pcl::PointCloud<pcl::PointXYZ>::Ptr get_pointcloud_from_txt(const std::string& file_path) { pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); std::ifstream file(file_path.c_str());//c_str()：生成一个const char*指针，指向以空字符终止的数组。 while (file) { std::string s; if (!getline(file, s)) break; std::istringstream ss(s); std::vector <std::string> record; std::vector <float> point; pcl::PointXYZ p; while (ss) { std::string s; if (!getline(ss, s, ',')) break; point.push_back(atof(s.c_str())); } p.x = point[0]; p.y = point[1]; p.z = point[2]; //p.intensity = point[3]; cloud->push_back(p); } file.close(); return cloud; } //-------------------------------------file----------------------------------------------------- //读取点云 void MainWindow::Open_clicked() { QString fileName = QFileDialog::getOpenFileName(this, tr("open file"), "", tr("pcb files(*.pcd *.ply *.xyz) ;;All files (*.*)")); if(fileName.isEmpty()) { return; } if(fileName.endsWith("ply")) { qDebug()<<fileName; if (pcl::io::loadPLYFile<pcl::PointXYZ>(fileName.toStdString(), cloud) == -1) //* load the file { qDebug()<<"Couldn't read file \n"; return ; } } else if (fileName.endsWith("pcd")) { qDebug()<<fileName; if (pcl::io::loadPCDFile<pcl::PointXYZ>(fileName.toStdString(), cloud) == -1) //* load the file { qDebug()<<"Couldn't read pcd file \n"; return ; } } else if (fileName.endsWith("xyz")) { QFuture<pcl::PointCloud<pcl::PointXYZ>::Ptr> future = QtConcurrent::run(get_pointcloud_from_txt,std::string(fileName.toStdString())); while(!future.isFinished()) { QApplication::processEvents(QEventLoop::AllEvents, 100); } auto cloud_out=future.result(); cloud=*cloud_out; } else { QMessageBox::warning(this, "Warning","点云读取格式错误！"); } //----------------------------------------------------- cloud_vec.push_back(cloud.makeShared()); cloud_index.push_back(1); itemFolder = new QStandardItem(m_publicIconMap[QStringLiteral("treeItem_folder")],QStringLiteral("cloud%1").arg(cloud_vec.size()-1)); itemFolder->setCheckable(true); itemFolder->setCheckState(Qt::Checked);//获取选中状态 model->appendRow(itemFolder); // item = new QStandardItem(m_publicIconMap[QStringLiteral("treeItem_dataItem")],QStringLiteral("%1").arg(cloud_vec.size()-1)); // item->setCheckable(true); // item->setCheckState(Qt::Checked);//获取选中状态 // itemFolder->appendRow(item); //----------------------------------------------------------- int size = static_cast<int>(cloud.size()); QString PointSize = QString("%1").arg(size); ui->textBrowser_2->clear(); ui->textBrowser_2->insertPlainText("点云数量: "+PointSize); ui->textBrowser_2->setFont(QFont( "Arial" , 9 ,QFont::Normal )); //----------------------------------------------------------------- //移除窗口点云 //点云设置 viewer->addPointCloud(cloud.makeShared(),std::to_string(cloud_vec.size()-1)); //设置点云大小 viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, point_size, std::to_string(cloud_vec.size()-1)); viewer->resetCamera(); ui->qvtkWidget->update(); } void MainWindow::Save_clicked() { QString filename = QFileDialog::getSaveFileName(this, tr ("Open point cloud"), "", tr ("Point cloud data (*.pcd *.ply)")); if(cloud.empty()) { return; } else { if (filename.isEmpty ()) return; int return_status;