libQGLViewer：继承QGLViewer以加载显示点云

新知识总是让人很兴奋。

虽然别人看起来很low，但是，我开心就好了。

分享给有需要的人，代码质量勿喷。

一、新建类，继承QGLViewer

1.1 头文件 xjQGLViewer.h

#include <math.h>
#include <stdlib.h>

#include "QGLViewer\qglviewer.h"

class xjQGLViewer :	public QGLViewer
{
	Q_OBJECT

public:
	xjQGLViewer();
	~xjQGLViewer();

protected:
	virtual void draw();
	virtual void init();

private:
	bool bShowPointCloud;
	std::map<int, std::vector<double>> mLasPont;
	std::vector<double> centerPoint;
	void DrawPointCloud(const std::map<int, std::vector<double>> &mLasPont, const std::vector<double> &centerPoint);

public:
	bool ShowPointCloud(const bool &bReadLas, const std::map<int, std::vector<double>> &mapLasPont, const std::vector<double> &xjCenterPoint);
};

1.2 源文件 xjQGLViewer.cpp

#include "xjQGLViewer.h"

xjQGLViewer::xjQGLViewer()
{
	bShowPointCloud = false;
	mLasPont.clear();
	centerPoint = { 0,0,0 };
}

xjQGLViewer::~xjQGLViewer()
{
}

void xjQGLViewer::init()
{
	restoreStateFromFile();

	setSceneRadius(20);

	camera()->fitSphere(qglviewer::Vec(0, 0, 0), 20);
}

void xjQGLViewer::draw()
{
	if (bShowPointCloud)
	{
		DrawPointCloud(mLasPont, centerPoint);
	}
}


//是否显示点云
bool xjQGLViewer::ShowPointCloud(const bool &bReadLas, const std::map<int, std::vector<double>> &mapLasPont, const std::vector<double> &xjCenterPoint)
{
	bShowPointCloud = bReadLas;
	if (bShowPointCloud)
	{
		mLasPont = mapLasPont;
		centerPoint = xjCenterPoint;
	}

	return bShowPointCloud;
}

//加载点云：XXX有点慢...
void xjQGLViewer::DrawPointCloud(const std::map<int, std::vector<double>>& mLasPont, const std::vector<double>& centerPoint)
{
	glPointSize(3);
	
	glBegin(GL_POINTS);
	int pcCount = mLasPont.size();
	for (int i = 0; i < pcCount; i++)
	{
		std::vector<double> p = mLasPont.at(i);
		
		qglviewer::Vec Pt;
		Pt.x = p[0] - centerPoint[0];
		Pt.y = p[1] - centerPoint[1];
		Pt.z = p[2] - centerPoint[2];

		glColor3f(p[6], p[7], p[8]);

		glVertex3fv(Pt);
	}
	glEnd();
}

二、主函数

//打开点云文件
void PointCloudDispose::on_actionOpen_triggered()
{
	QString fileAbsolutePath = QFileDialog::getOpenFileName(this, "选择LAS...", mTemPath, "*.las");
	if (fileAbsolutePath.isEmpty())
		return;
	if (!QFile::exists(fileAbsolutePath))
		return;

	mTemPath = QFileInfo(fileAbsolutePath).absolutePath();
	mLasAbsolutePath = fileAbsolutePath;

	//PDAL读取Las
	std::map<int, std::vector<double>> mapLasPont;
	std::vector<double> xjCenterPoint = { 0,0,0 };
	bool bReadLas = ReadLasTomap(fileAbsolutePath, mapLasPont, xjCenterPoint);
	
	//加载显示点云
	xjViewer->ShowPointCloud(bReadLas,mapLasPont, xjCenterPoint);
}