pcl-qt使用QVTKWidget 与PCLVisualizer 显示雷达点云

Posted 2021-02-09 kabe

#ifndef PCLVIEWER_H
#define PCLVIEWER_H
#include "defines.h"
#include <iostream>
#include "radarserviceprovider.h"
#include "radarserviceprovider32.h"
#include "radarserviceproviderbase.h"
// Qt
#include <QWidget>
#include <QObject>
#include <QTimer>

// Point Cloud Library
//#include "pcl/visualization/pcl_visualizer.h"
#include "pcl/pcl_visualizer.h"
#include <vtkRenderWindow.h>
#include<QMutex>
#include<QDialog>
#include "QVTKWidget.h"
class vtkRenderer;
class vtkRenderWindowInteractor;
class vtkImageViewer2;
#define MAX_READ_LENGTH  5000
namespace Ui
{
  class PCLViewer;
};

class PCLViewer : public QVTKWidget
{
  Q_OBJECT

public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  explicit PCLViewer (QWidget *parent = 0,int width =200,int height =200);
  ~PCLViewer ();


protected:
  boost::shared_ptr<pcl::visualization::PCLVisualizer> 
m_viewerOrg;
  PointCloudT::Ptr m_cloudOrg;
private slots:

   void combineRadarData();


private:

   int  m_height;
   int  m_width;


  PointCloudT m_pOrgData;
  PointCloudT m_ptestData;
  bool m_frontArrivedFlag;   //??????????????
  bool m_backArrivedFlag;     // ???????????????




  int m_cubeSize;
  QStringList m_idList;
  QStringList m_idSituationList;
  pcl::visualization::Camera m_cam;

  bool m_viewFollow = true;
  QTimer *m_timer;
  QMutex m_lidarBackMutex;
  QMutex m_lidarfrontMutex;
  QMutex m_situationTargetsMutex;
  QMutex m_lidarTargetsMutex;

};

#endif // PCLVIEWER_H

项目是两个雷达数据一起显示的。

#include "pclviewer.h"
#include <vtkOutputWindow.h>
#include <vtkPolyDataAlgorithm.h>
#include "service.h"
#include <QFile>
#include<QFileDevice>
#include<QXmlStreamReader>
#include"config.h"
#include "src/datacache.h"
#include<QMessageBox>
#include "service.h"
#include<QMutexLocker>
#include"math.h"
#include "vtkRenderer.h"
#include "vtkRenderWindowInteractor.h"
#include "vtkConeSource.h"

#include <vtkImageViewer2.h>
#include <vtkPNGReader.h>

#define MAX_POINT_NUM 1
PCLViewer::PCLViewer (QWidget *parent, int width, int height) :
    QVTKWidget(parent),m_frontArrivedFlag(false),m_backArrivedFlag(false),
    m_width(width),m_height(height)
{
  qDebug()<<"width:height"<<width<<":"<<height;
  this->setFixedSize(width,height);
  m_cubeSize =0;


  vtkOutputWindow::SetGlobalWarningDisplay(0);
  m_cloudOrg.reset(new PointCloudT);
  m_cloudOrg->points.resize(MAX_POINT_NUM);
  m_viewerOrg.reset (new pcl::visualization::PCLVisualizer ("viewer", false));
  this->SetRenderWindow (m_viewerOrg->getRenderWindow ());
  m_viewerOrg->setupInteractor (this->GetInteractor (), this->GetRenderWindow ());

  m_viewerOrg->resetCamera();

  m_viewerOrg->addPointCloud (m_cloudOrg, "cloud");

  m_viewerOrg->setCameraPosition(0, 0, 72, 0, 1, 0, 0);

  std::vector<pcl::visualization::Camera> cam;
  m_viewerOrg->getCameras(cam);
  m_cam =cam[0];

}




void PCLViewer::combineRadarData()
{
      if(m_viewFollow)
      {
         float offsetx  = 视觉x坐标 ;
         float offsety = 视觉y坐标;

         m_cam.pos[0] = offsetx;
         m_cam.pos[1]= offsety;
         m_cam.pos[2]=72;
         m_cam.focal[0] = offsetx;
         m_cam.focal[1]= offsety;
         m_cam.focal[2]=0;
         m_cam.view[0]=0;
         m_cam.view[1]=1;
         m_cam.view[2]=0;
         m_viewerOrg->setCameraParameters(m_cam);
     }

     if(m_threadList.count()>0) // m_threadList接收线程列表
     {
         PointCloudT::Ptr data =m_threadList.at(0)->readData();
         PointCloudT combine = *data;
         for(int i =1;i<m_threadList.count();i++ )
         {
             PointCloudT::Ptr backData = m_threadList.at(i)->readData() ;
             combine += *backData;
         }
         PointCloudT::Ptr pCombine = combine.makeShared();
         m_viewerOrg->updatePointCloud(pCombine, "cloud");
         this->update();
     }

     for(auto p: m_threadList)
     {
         p->setDataUsed();
     }

}