394 lines
12 KiB
C++
394 lines
12 KiB
C++
#ifndef POINT_CLOUD_GL_WIDGET_H
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#define POINT_CLOUD_GL_WIDGET_H
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#include <QOpenGLWidget>
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#include <QOpenGLFunctions>
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#include <QOpenGLBuffer>
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#include <QMatrix4x4>
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#include <QVector3D>
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#include <QMouseEvent>
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#include <QWheelEvent>
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#include <vector>
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#include "PointCloudConverter.h"
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/**
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* @brief 点云显示颜色枚举
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*/
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enum class PointCloudColor
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{
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White,
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Red,
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Green,
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Blue,
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Yellow,
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Cyan,
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Magenta,
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Original
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};
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/**
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* @brief 选中的点信息
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*/
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struct SelectedPointInfo
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{
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bool valid;
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size_t index;
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float x, y, z;
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int cloudIndex;
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int lineIndex; // 所属线索引
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int pointIndexInLine; // 点在线中的索引
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SelectedPointInfo() : valid(false), index(0), x(0), y(0), z(0), cloudIndex(-1), lineIndex(-1), pointIndexInLine(-1) {}
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};
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/**
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* @brief 选线模式
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*/
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enum class LineSelectMode
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{
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Vertical, // 纵向选线（同一条扫描线）
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Horizontal // 横向选线（所有线的相同索引点）
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};
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/**
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* @brief 欧拉角旋转顺序
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*/
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enum class EulerRotationOrder
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{
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ZYX, // Yaw-Pitch-Roll（最常用）
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XYZ, // Roll-Pitch-Yaw
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ZXY, // Yaw-Roll-Pitch
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YXZ, // Pitch-Roll-Yaw
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XZY, // Roll-Yaw-Pitch
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YZX // Pitch-Yaw-Roll
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};
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/**
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* @brief 选中的线信息
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*/
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struct SelectedLineInfo
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{
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bool valid;
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int cloudIndex; // 点云索引
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int lineIndex; // 线索引（纵向选线时使用）
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int pointIndex; // 点索引（横向选线时使用）
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int pointCount; // 该线上的点数
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LineSelectMode mode; // 选线模式
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SelectedLineInfo() : valid(false), cloudIndex(-1), lineIndex(-1), pointIndex(-1), pointCount(0), mode(LineSelectMode::Vertical) {}
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};
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/**
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* @brief 线段数据
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*/
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struct LineSegment
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{
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float x1, y1, z1; // 起点
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float x2, y2, z2; // 终点
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float r, g, b; // 颜色 (0-1)
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LineSegment() : x1(0), y1(0), z1(0), x2(0), y2(0), z2(0), r(1), g(1), b(1) {}
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LineSegment(float _x1, float _y1, float _z1, float _x2, float _y2, float _z2, float _r = 1.0f, float _g = 1.0f, float _b = 1.0f)
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: x1(_x1), y1(_y1), z1(_z1), x2(_x2), y2(_y2), z2(_z2), r(_r), g(_g), b(_b) {}
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};
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/**
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* @brief 姿态点数据
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*
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* 坐标系约定（右手坐标系）：
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* - X轴：红色，指向右
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* - Y轴：绿色，指向上
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* - Z轴：蓝色，指向观察者
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*
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* 欧拉角旋转顺序：ZYX（Yaw-Pitch-Roll）
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* - rz: 绕Z轴旋转（偏航角，Yaw）
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* - ry: 绕Y轴旋转（俯仰角，Pitch）
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* - rx: 绕X轴旋转（滚转角，Roll）
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*/
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struct PosePoint
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{
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float x, y, z; // 位置
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float rx, ry, rz; // 欧拉角（度）
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float scale; // 坐标系大小
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PosePoint() : x(0), y(0), z(0), rx(0), ry(0), rz(0), scale(10.0f) {}
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PosePoint(float _x, float _y, float _z, float _rx, float _ry, float _rz, float _scale = 10.0f)
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: x(_x), y(_y), z(_z), rx(_rx), ry(_ry), rz(_rz), scale(_scale) {}
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};
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/**
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* @brief 点云 OpenGL 渲染控件
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*/
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class PointCloudGLWidget : public QOpenGLWidget, protected QOpenGLFunctions
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{
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Q_OBJECT
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public:
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explicit PointCloudGLWidget(QWidget* parent = nullptr);
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~PointCloudGLWidget() override;
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void addPointCloud(const PointCloudXYZ& cloud, const QString& name = "");
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void addPointCloud(const PointCloudXYZRGB& cloud, const QString& name = "");
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void clearPointClouds();
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void setPointCloudColor(PointCloudColor color);
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void setPointSize(float size);
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void resetView();
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/**
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* @brief 设置视角旋转角度（不改变缩放和平移）
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* @param rotX X轴旋转角度（俯仰）
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* @param rotY Y轴旋转角度（偏航）
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* @param rotZ Z轴旋转角度（滚转）
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*/
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void setViewAngles(float rotX, float rotY, float rotZ = 0.0f);
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QVector<SelectedPointInfo> getSelectedPoints() const { return m_selectedPoints; }
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SelectedLineInfo getSelectedLine() const { return m_selectedLine; }
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void clearSelectedPoints();
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void clearSelectedLine();
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float calculateDistance(const SelectedPointInfo& p1, const SelectedPointInfo& p2);
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/**
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* @brief 通过线索引选择线（纵向）
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*/
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bool selectLineByIndex(int lineIndex);
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/**
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* @brief 通过点索引选择横向线（所有线的相同索引点）
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*/
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bool selectHorizontalLineByIndex(int pointIndex);
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/**
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* @brief 设置选线模式
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*/
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void setLineSelectMode(LineSelectMode mode) { m_lineSelectMode = mode; }
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/**
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* @brief 设置欧拉角旋转顺序
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*/
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void setEulerRotationOrder(EulerRotationOrder order) { m_eulerRotationOrder = order; }
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/**
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* @brief 获取欧拉角旋转顺序
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*/
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EulerRotationOrder getEulerRotationOrder() const { return m_eulerRotationOrder; }
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/**
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* @brief 设置是否启用测距功能
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*/
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void setMeasureDistanceEnabled(bool enabled) { m_measureDistanceEnabled = enabled; }
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/**
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* @brief 获取测距功能是否启用
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*/
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bool isMeasureDistanceEnabled() const { return m_measureDistanceEnabled; }
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/**
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* @brief 获取选中线上的所有点坐标
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* @return 点坐标列表，每个元素为 (x, y, z)
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*/
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QVector<QVector3D> getSelectedLinePoints() const;
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/**
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* @brief 设置列表高亮点（与选点功能区分）
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* @param point 点坐标，如果为空则清除高亮
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*/
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void setListHighlightPoint(const QVector3D& point);
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/**
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* @brief 清除列表高亮点
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*/
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void clearListHighlightPoint();
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/**
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* @brief 获取第一个点云的数据（用于旋转和保存）
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*/
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bool getFirstCloudData(PointCloudXYZ& cloud) const;
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/**
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* @brief 替换第一个点云（用于显示旋转后的数据）
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*/
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void replaceFirstCloud(const PointCloudXYZ& cloud, const QString& name);
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/**
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* @brief 获取点云数量
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*/
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size_t getCloudCount() const { return m_pointClouds.size(); }
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/**
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* @brief 对所有点云应用 4x4 变换矩阵
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* @param matrix 4x4 变换矩阵
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*/
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void transformAllClouds(const QMatrix4x4& matrix);
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/**
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* @brief 添加线段
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*/
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void addLineSegments(const QVector<LineSegment>& segments);
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/**
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* @brief 清除所有线段
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*/
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void clearLineSegments();
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/**
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* @brief 添加姿态点
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*/
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void addPosePoints(const QVector<PosePoint>& poses);
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/**
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* @brief 清除所有姿态点
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*/
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void clearPosePoints();
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signals:
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void pointSelected(const SelectedPointInfo& point);
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void twoPointsSelected(const SelectedPointInfo& p1, const SelectedPointInfo& p2, float distance);
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void lineSelected(const SelectedLineInfo& line);
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void viewAnglesChanged(float rotX, float rotY, float rotZ);
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protected:
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void initializeGL() override;
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void resizeGL(int w, int h) override;
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void paintGL() override;
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void mousePressEvent(QMouseEvent* event) override;
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void mouseMoveEvent(QMouseEvent* event) override;
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void mouseReleaseEvent(QMouseEvent* event) override;
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void wheelEvent(QWheelEvent* event) override;
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void keyPressEvent(QKeyEvent* event) override;
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private:
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struct PointCloudData
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{
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std::vector<float> vertices;
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std::vector<float> colors;
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std::vector<int> lineIndices; // 每个点所属的线索引
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std::vector<int> originalIndices; // 每个显示点在原始点云中的索引（用于计算原始index）
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bool hasColor;
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bool hasLineInfo; // 是否有线信息
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QString name;
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int colorIndex; // 点云颜色索引
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int totalLines; // 总线数
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int pointsPerLine; // 每线点数（网格化点云）
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// VBO 缓冲区
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QOpenGLBuffer vertexBuffer; // 顶点 VBO
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QOpenGLBuffer colorBuffer; // 颜色 VBO
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bool vboCreated; // VBO 是否已创建
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PointCloudData()
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: hasColor(false), hasLineInfo(false), colorIndex(0)
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, totalLines(0), pointsPerLine(0)
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, vertexBuffer(QOpenGLBuffer::VertexBuffer)
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, colorBuffer(QOpenGLBuffer::VertexBuffer)
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, vboCreated(false)
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{}
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// 移动构造函数（QOpenGLBuffer 不支持拷贝）
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PointCloudData(PointCloudData&& other) noexcept
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: vertices(std::move(other.vertices))
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, colors(std::move(other.colors))
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, lineIndices(std::move(other.lineIndices))
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, originalIndices(std::move(other.originalIndices))
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, hasColor(other.hasColor)
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, hasLineInfo(other.hasLineInfo)
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, name(std::move(other.name))
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, colorIndex(other.colorIndex)
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, totalLines(other.totalLines)
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, pointsPerLine(other.pointsPerLine)
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, vertexBuffer(QOpenGLBuffer::VertexBuffer)
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, colorBuffer(QOpenGLBuffer::VertexBuffer)
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, vboCreated(false)
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{
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// VBO 需要在 GL 上下文中重建，标记为未创建
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other.vboCreated = false;
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}
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PointCloudData& operator=(PointCloudData&& other) noexcept
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{
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if (this != &other) {
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// 释放自身 VBO
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if (vboCreated) {
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vertexBuffer.destroy();
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colorBuffer.destroy();
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vboCreated = false;
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}
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vertices = std::move(other.vertices);
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colors = std::move(other.colors);
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lineIndices = std::move(other.lineIndices);
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originalIndices = std::move(other.originalIndices);
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hasColor = other.hasColor;
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hasLineInfo = other.hasLineInfo;
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name = std::move(other.name);
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colorIndex = other.colorIndex;
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totalLines = other.totalLines;
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pointsPerLine = other.pointsPerLine;
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// VBO 需要重建
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other.vboCreated = false;
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}
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return *this;
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}
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// 禁止拷贝
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PointCloudData(const PointCloudData&) = delete;
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PointCloudData& operator=(const PointCloudData&) = delete;
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};
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void computeBoundingBox();
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void setCurrentColor(PointCloudColor color);
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void setColorByIndex(int colorIndex); // 根据索引设置颜色
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SelectedPointInfo pickPoint(int screenX, int screenY);
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void drawSelectedPoints();
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void drawMeasurementLine();
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void drawAxis();
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void drawSelectedLine(); // 绘制选中的线
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void drawLineSegments(); // 绘制线段
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void drawPosePoints(); // 绘制姿态点
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void uploadToVBO(PointCloudData& data); // 上传数据到 VBO
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void releaseVBO(PointCloudData& data); // 释放 VBO 资源
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std::vector<PointCloudData> m_pointClouds;
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QMatrix4x4 m_projection;
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QMatrix4x4 m_view;
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QMatrix4x4 m_model;
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float m_distance;
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float m_rotationX;
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float m_rotationY;
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float m_rotationZ;
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QVector3D m_center;
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QVector3D m_pan;
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QVector3D m_minBound;
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QVector3D m_maxBound;
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QPoint m_lastMousePos;
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bool m_leftButtonPressed;
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bool m_rightButtonPressed;
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bool m_middleButtonPressed;
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PointCloudColor m_currentColor;
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float m_pointSize;
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LineSelectMode m_lineSelectMode;
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EulerRotationOrder m_eulerRotationOrder;
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bool m_measureDistanceEnabled;
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QVector<SelectedPointInfo> m_selectedPoints;
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SelectedLineInfo m_selectedLine;
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static const int MAX_SELECTED_POINTS = 2;
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// 列表高亮点（与选点功能区分）
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bool m_hasListHighlightPoint;
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QVector3D m_listHighlightPoint;
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int m_colorIndex; // 颜色轮换索引
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static const int COLOR_COUNT = 7; // 可用颜色数量
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// 线段和姿态点数据
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QVector<LineSegment> m_lineSegments;
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QVector<PosePoint> m_posePoints;
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};
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#endif // POINT_CLOUD_GL_WIDGET_H
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