最近在项目中用qt进行三维pcd点云文件的可视化,于是学习了如何用3DScatter进行绘图,以下是实现代码,特此记录。
1. scatter1.pro文件
添加两个文件
2. scatter1.h头文件
#ifndef MAINWINDOW_H
#define MAINWINDOW_H
#include <QMainWindow>
#include "scatterdatamodifier.h" //一定要包含!!
namespace Ui {
class MainWindow;
}
class MainWindow : public QMainWindow
{
Q_OBJECT
public:
explicit MainWindow(QWidget *parent = 0);
~MainWindow();
//void readLine();
private:
Ui::MainWindow *ui;
Q3DScatter *graph;
public slots:
void on_ok_clicked(); //三维点云展示
void on_browse_clicked(); //点云文件选择
};
#endif // MAINWINDOW_H
3. scatter1.cpp
#include "mainwindow.h"
#include "ui_mainwindow.h"
#include <QHBoxLayout>
#include <QVBoxLayout>
#include "scatterdatamodifier.h"
#include <QFileDialog>
#include <QMessageBox>
#include <QStringList>
#include <QValue3DAxis>
#include <QScreen>
#include <QDebug>
#include <QFile>
using namespace QtDataVisualization;
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
ui->xx->setText("1");//设置x,y,z坐标间隔
ui->yy->setText("1");
ui->zz->setText("1");
}
MainWindow::~MainWindow()
{
delete ui;
}
void MainWindow::on_ok_clicked()
{
graph = new Q3DScatter();
delete ui->widget->layout(); //删除现有布局
graph->seriesList().clear(); //清除现有数据
//设置相机位置
graph->scene()->activeCamera()->setCameraPreset(Q3DCamera::CameraPresetIsometricLeftHigh);
//设置阴影显示
graph->setShadowQuality(QAbstract3DGraph::ShadowQualityNone); //无阴影
//设置坐标轴
graph->axisX()->setTitle("X");
graph->axisY()->setTitle("Y");
graph->axisZ()->setTitle("Z");
//坐标范围
graph->axisX()->setRange(-2,2);
graph->axisY()->setRange(-2,2);
graph->axisZ()->setRange(-8,-6);
//调节各个轴的比例
graph->setHorizontalAspectRatio(2.0);//水平纵横比是x轴与z轴之间的图形比例,默认0.0,表示根据轴范围自动缩放
graph->setAspectRatio(1);//设置水平面最长轴与y轴之间的图形比例,默认为2
//关闭各个轴的自调节
graph->axisX()->setAutoAdjustRange(false);
graph->axisY()->setAutoAdjustRange(false);
graph->axisZ()->setAutoAdjustRange(false);
//设置坐标轴数量
graph->axisX()->setSubSegmentCount(ui->xx->text().toInt());
graph->axisY()->setSubSegmentCount(ui->yy->text().toInt());
graph->axisZ()->setSubSegmentCount(ui->zz->text().toInt());
//设置整体坐标系主题
graph->activeTheme()->setType(Q3DTheme::Theme(6));//"Qt"主题,黑色背景,白色点
QFont font = graph->activeTheme()->font();
//font.setPointSize(20.0f);
//font.setPointSize(ui.pointsize->text().toFloat());
//graph->activeTheme()->setFont(font);
QScatterDataProxy *proxy = new QScatterDataProxy;//点
QScatter3DSeries *series = new QScatter3DSeries(proxy);
series->setItemLabelFormat("@xTitle: @xLabel @yTitle: @yLabel @zTitle: @zLabel");//设置各个轴
series->setMeshSmooth(true);
series->setItemSize(0.01); //设置点云大小
//series->setBaseColor(m_point_color);
//创建一个widget,将坐标系添加进去
QWidget *container = QWidget::createWindowContainer(graph);
//水平布局,父对象是widget
QHBoxLayout *hLayout = new QHBoxLayout(ui->widget);
//垂直布局
QVBoxLayout *vLayout = new QVBoxLayout();
//将container添加到水平布局中
hLayout->addWidget(container, 1);
hLayout->addLayout(vLayout);
QSize screenSize = graph->screen()->size();
container->setMinimumSize(QSize(screenSize.width() / 6, screenSize.height() / 8));
container->setMaximumSize(screenSize);
container->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
container->setFocusPolicy(Qt::StrongFocus);
//判断是否graph(opengl)初始化
if (!graph->hasContext())
{
QMessageBox msgBox;
msgBox.setText("can't initial the openGL context.");
msgBox.exec();
}
QScatterDataArray data;
//按行读取文件内容
//QString name = QStringLiteral();
QFile file(ui->filename->text());
if (file.open(QIODevice::ReadOnly | QIODevice::Text))
{
int i = 0;
while (!file.atEnd())
{
QByteArray line = file.readLine();
QString str(line);
if (i >= 12)
{
QString x = str.section(' ', 0, 0);
float xq = x.toFloat();
QString y = str.section(' ', 1, 1);
float yq = y.toFloat();
QString z = str.section(' ', 2, 2).trimmed();
float zq = z.toFloat();
data.append(QVector3D(xq, yq, zq));
}
i += 1;
}
file.close();
}
series->dataProxy()->addItems(data);
graph->addSeries(series);
if (graph->seriesList().size())
graph->seriesList().at(0)->setMesh(QAbstract3DSeries::MeshPoint); //添加三维点云
void MainWindow::on_browse_clicked() //点云文件选择
{
QFileDialog *m_file_dialog; //文件对话框
m_file_dialog = new QFileDialog(this);
m_file_dialog->setWindowTitle(tr("Open"));//设置文件保存对话框的标题
m_file_dialog->setAcceptMode(QFileDialog::AcceptOpen);//设置文件对话框为保存模式
m_file_dialog->setFileMode(QFileDialog::AnyFile);//设置文件对话框弹出的时候显示任何文件,不论是文件夹还是文件
m_file_dialog->setViewMode(QFileDialog::Detail);//文件以详细的形式显示,显示文件名,大小,创建日期等信息;
m_file_dialog->setNameFilter(tr("pcd file(*.pcd );"));//只显示pcd文件
m_file_dialog->setGeometry(10, 30, 30, 50);//设置文件对话框的显示位置
m_file_dialog->setDirectory(".");//设置文件对话框打开时初始打开的位置
if (m_file_dialog->exec() == QDialog::Accepted)
{
QString path = m_file_dialog->selectedFiles()[0];//得到用户选择的文件名
ui->filename->setText(path);
}
}
4. main.cpp
#include "mainwindow.h"
#include <QApplication>
using namespace QtDataVisualization;
int main(int argc, char *argv[])
{
QApplication a(argc, argv);
MainWindow w;
w.show();
return a.exec();
}
5. 界面
至此,在QT上完成了pcd点云文件的读取和可视化,其中需要注意QT scatter坐标系的比例调节,如果显示的图像发生变形,可通过以下函数进行调节。
graph->axisX()->setRange(-2,2);
graph->axisY()->setRange(-2,2);
graph->axisZ()->setRange(-8,-6);
graph->setHorizontalAspectRatio(2.0);//水平纵横比是x轴与z轴之间的图形比例,默认0.0,表示根据轴范围自动缩放
graph->setAspectRatio(1);//设置水平面最长轴与y轴之间的图形比例,默认为2
其中,先要设置x/y/z轴的范围,再根据范围设置比例。其中setHorizontalRatio是水平纵横比,是你设的x轴范围和z轴范围的比,例如此处x轴范围是4,z轴范围是2,则水平纵横比为x/z=4/2=2.0。setAspectRatio是水平面最长轴和y轴的比例,此处xoz最长轴为4,y轴范围为4,则setAspectRatio为x/y=4/4=1.0,此时能保证图像不失真(否则,自动缩放的图形会进行压缩)。