使用QT搭建点云显示框架系列一——QGLViewer
本文程序不会使用的同学请加我QQ：498771026
我感觉程序猿之间是不用瞎BB的，先讲明白然后直接上干货就行。
我们的主要目的就是利用QT 和 opengl搭建一个点云显示框架，笔者之前也搭建过一个，用的是qt自带的opengl es2，效果还算不错，只是有点大，大家可能吸收不了。文章链接如下，里面有源程序的各种免费下载，就不多说了。
http://blog.csdn.net/qq_30547073/article/details/78496279
后来笔者发现了一个好东西叫做QGLViewer，它的相机做的不错，选点也做得很好。它的官方的学习例子本人已经全部跑通，然后效果都还不错，做了一个框架把它们弄到了一起，QGLViewer这个库也编译好放到一起了，请叫我活雷锋，百度网盘下载链接如下：链接：https://pan.baidu.com/s/1i5MRSbF 密码：ku8f
我们放几个效果上来：
配置的话，请看我这篇文章：QGLViewer排坑文档
http://blog.csdn.net/qq_30547073/article/details/78954592
我就先简单放一段代码上来，告诉大家怎么把QGLViewer加到主窗体里面去，当然只放核心代码。想要全部代码就加我QQ498771026 或者去我的网盘里面下就行了，链接在上面。
主窗体：
#include "ninqglstudy.h"
#include "ui_ninqglstudy.h"
#include
#include
#include
#include
#include
#include
#include
#include
#include
using namespace qglviewer;
NinQGLStudy::NinQGLStudy(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::NinQGLStudy)
{
ui->setupUi(this);
Start();
}
NinQGLStudy::~NinQGLStudy()
{
delete ui;
}
void NinQGLStudy::do_SetCenterWidget(QWidget* viewer)
{
this->setCentralWidget(viewer);
viewer->setAttribute(Qt::WA_DeleteOnClose);//关闭立刻释放
viewer->show();
statusBar()->showMessage("Case loaded!", 3000);
do_ResetWindow();
}
//if we have two frame
void NinQGLStudy::do_SetCenterWidget(QWidget* viewer1 ,QWidget*viewer2)
{
QWidget *CenterWidget = new QWidget();
QHBoxLayout* myHBoxLayout = new QHBoxLayout();
myHBoxLayout->addWidget(viewer1);
myHBoxLayout->addWidget(viewer2);
viewer1->show();
viewer2->show();
CenterWidget->setLayout(myHBoxLayout);
this->setCentralWidget(CenterWidget);
//statusBar()->showMessage("Case loaded!", 3000);
do_ResetWindow(1200,600);
}
void NinQGLStudy::Start()
{
Init_Window();
Init_StatusBar();
do_ResetWindow();
}
void NinQGLStudy::Init_StatusBar()
{
QLabel *msgLabel = new QLabel;
msgLabel->setMinimumSize(150, 20); // 设置标签最小大小
msgLabel->setFrameShape(QFrame::WinPanel); // 设置标签形状
msgLabel->setFrameShadow(QFrame::Sunken); // 设置标签阴影
msgLabel->setAlignment(Qt::AlignHCenter);
msgLabel->setText(tr("Ninja Scarlet"));
statusBar()->addWidget(msgLabel);
statusBar()->setSizeGripEnabled(true);
}
void NinQGLStudy::Init_Window()
{
QDesktopWidget* desktopWidget = QApplication::desktop();
//Availibal desktop 1920x1040
QRect deskRect = desktopWidget->availableGeometry();
//Get full screen size 1920 x 1080
QRect screenRect = desktopWidget->screenGeometry();
int ExpectW = deskRect.width()/4*3;
int ExpectH = deskRect.height()/4*3;
this->resize(ExpectW,ExpectH);
}
void NinQGLStudy::do_ResetWindow()
{
QDesktopWidget* desktopWidget = QApplication::desktop();
//Availibal desktop 1920x1040
QRect deskRect = desktopWidget->availableGeometry();
//Get full screen size 1920 x 1080
QRect screenRect = desktopWidget->screenGeometry();
int ExpectW = deskRect.width()/4*3;
int ExpectH = deskRect.height()/4*3;
this->resize(ExpectW,ExpectH);
// this->move((QApplication::desktop()->width() - this->width()) / 2,
// (QApplication::desktop()->height() - this->height()) / 2);
//this->setWindowFlags(this->windowFlags() | Qt::WindowStaysOnTopHint);
this->activateWindow();
}
void NinQGLStudy::do_ResetWindow(int Width ,int Height)
{
this->resize(Width,Height);
// this->move((QApplication::desktop()->width() - this->width()) / 2,
// (QApplication::desktop()->height() - this->height()) / 2);
this->activateWindow();
}
//Basic example=======================
void NinQGLStudy::do_ShowExample_SimpleViewer()
{
Example_simpleViewer* viewer = new Example_simpleViewer();
do_SetCenterWidget(viewer);
} 下面这段代码就是QGLViewer里面的具体绘制，本人擅自加了一点绘制立方体的代码，我们可以选择绘制立方体或者QGLViewer官方的那一坨彩色的翔：
#include "example_simpleviewer.h"
#include
Example_simpleViewer::Example_simpleViewer()
{
}
void DrawCube()
{
glBegin(GL_QUADS);
//0----------------------------
glNormal3f( 0.0F, 0.0F, 1.0F);
glVertex3f( 0.5f, 0.5f, 0.5f);
glVertex3f(-0.5f, 0.5f, 0.5f);
glVertex3f(-0.5f,-0.5f, 0.5f);
glVertex3f( 0.5f,-0.5f, 0.5f);
//1----------------------------
//this is to show the face is remnant
glNormal3f( 0.0F, 0.0F,-1.0F);
glVertex3f(-0.2f,-0.5f,-0.5f);
glVertex3f(-0.5f, 0.5f,-0.5f);
glVertex3f( 0.5f, 0.5f,-0.5f);
glVertex3f( 0.5f,-0.5f,-0.5f);
//2----------------------------
glNormal3f( 0.0F, 1.0F, 0.0F);
glVertex3f( 0.5f, 0.5f, 0.5f);
glVertex3f( 0.5f, 0.5f,-0.5f);
glVertex3f(-0.5f, 0.5f,-0.5f);
glVertex3f(-0.5f, 0.5f, 0.5f);
//3----------------------------
glNormal3f( 0.0F,-1.0F, 0.0F);
glVertex3f(-0.5f,-0.5f,-0.5f);
glVertex3f( 0.5f,-0.5f,-0.5f);
glVertex3f( 0.5f,-0.5f, 0.5f);
glVertex3f(-0.5f,-0.5f, 0.5f);
//4----------------------------
glNormal3f( 1.0F, 0.0F, 0.0F);
glVertex3f( 0.5f, 0.5f, 0.5f);
glVertex3f( 0.5f,-0.5f, 0.5f);
glVertex3f( 0.5f,-0.5f,-0.5f);
glVertex3f( 0.5f, 0.5f,-0.5f);
//5----------------------------
glNormal3f(-1.0F, 0.0F, 0.0F);
glVertex3f(-0.5f,-0.5f,-0.5f);
glVertex3f(-0.5f,-0.5f, 0.5f);
glVertex3f(-0.5f, 0.5f, 0.5f);
glVertex3f(-0.5f, 0.5f,-0.5f);
glEnd();
}
void DrawShit()
{
const float nbSteps = 200.0;
glBegin(GL_QUAD_STRIP);
for (int i = 0; i < nbSteps; ++i)
{
const float ratio = i / nbSteps;
const float angle = 21.0 * ratio;
const float c = cos(angle);
const float s = sin(angle);
const float r1 = 1.0 - 0.8f * ratio;
const float r2 = 0.8f - 0.8f * ratio;
const float alt = ratio - 0.5f;
const float nor = 0.5f;
const float up = sqrt(1.0 - nor * nor);
glColor3f(1.0 - ratio, 0.2f, ratio);
glNormal3f(nor * c, up, nor * s);
glVertex3f(r1 * c, alt, r1 * s);
glVertex3f(r2 * c, alt + 0.05f, r2 * s);
}
glEnd();
}
void DrawColorCube()
{
//glPushMatrix();
{
glBegin(GL_POLYGON); //前表面
glColor3ub((GLubyte)255,(GLubyte)255,(GLubyte)255);//颜色设置为白色
glVertex3f(50.0f,50.0f,50.0f);
glColor3ub((GLubyte)255,(GLubyte)255,(GLubyte)0);//颜色设置为黄色
glVertex3f(50.0f,-50.0f,50.0f);
glColor3ub((GLubyte)255,(GLubyte)0,(GLubyte)0);//颜色设置为红色
glVertex3f(-50.0f,-50.0f,50.0f);
glColor3ub((GLubyte)255,(GLubyte)0,(GLubyte)255);//颜色设置为白色
glVertex3f(-50.0f,50.0f,50.0f);
glEnd();
glBegin(GL_POLYGON); //后表面
glColor3f(0.0f,1.0f,1.0f);//颜色设置为青色
glVertex3f(50.0f,50.0f,-50.0f);
glColor3f(0.0f,1.0f,0.0f);//颜色设置为绿色
glVertex3f(50.0f,-50.0f,-50.0f);
glColor3f(0.0f,0.0f,0.0f);//颜色设置为黑色
glVertex3f(-50.0f,-50.0f,-50.0f);
glColor3f(0.0f,0.0f,1.0f);//颜色设置为蓝色
glVertex3f(-50.0f,50.0f,-50.0f);
glEnd();
glBegin(GL_POLYGON); //上表面
glColor3d(0.0,1.0,1.0);//颜色设置为青色
glVertex3f(50.0f,50.0f,-50.0f);
glColor3d(1.0,1.0,1.0);//颜色设置为白色
glVertex3f(50.0f,50.0f,50.0f);
glColor3d(1.0,0.0,1.0);//颜色设置为品红色
glVertex3f(-50.0f,50.0f,50.0f);
glColor3d(0.0,0.0,1.0);//颜色设置为蓝色
glVertex3f(-50.0f,50.0f,-50.0f);
glEnd();
glBegin(GL_POLYGON); //下表面
glColor3ub(0u,255u,0u);//颜色设置为绿色
glVertex3f(50.0f,-50.0f,-50.0f);
glColor3ub(255u,255u,0u);//颜色设置为黄色
glVertex3f(50.0f,-50.0f,50.0f);
glColor3ub(255u,0u,0u);//颜色设置为红色
glVertex3f(-50.0f,-50.0f,50.0f);
glColor3ub(0u,0u,0u);//颜色设置为黑色
glVertex3f(-50.0f,-50.0f,-50.0f);
glEnd();
glBegin(GL_POLYGON); //左表面
glColor3ub((GLubyte)255,(GLubyte)255,(GLubyte)255);//颜色设置为白色
glVertex3f(50.0f,50.0f,50.0f);
glColor3ub((GLubyte)0,(GLubyte)255,(GLubyte)255);//颜色设置为青色
glVertex3f(50.0f,50.0f,-50.0f);
glColor3ub((GLubyte)0,(GLubyte)255,(GLubyte)0);//颜色设置为绿色
glVertex3f(50.0f,-50.0f,-50.0f);
glColor3ub((GLubyte)255,(GLubyte)255,(GLubyte)0);//颜色设置为黄色
glVertex3f(50.0f,-50.0f,50.0f);
glEnd();
glBegin(GL_POLYGON); //右表面
glColor3f(1.0f,0.0f,1.0f);//颜色设置为品红色
glVertex3f(-50.0f,50.0f,50.0f);
glColor3f(0.0f,0.0f,1.0f);//颜色设置为蓝色
glVertex3f(-50.0f,50.0f,-50.0f);
glColor3f(0.0f,0.0f,0.0f);//颜色设置为黑色
glVertex3f(-50.0f,-50.0f,-50.0f);
glColor3f(1.0f,0.0f,0.0f);//颜色设置为红色
glVertex3f(-50.0f,-50.0f,50.0f);
glEnd();
}
//glPopMatrix();
}
void Example_simpleViewer::draw()
{
//DrawColorCube();
DrawCube();
//DrawShit();
}
void Example_simpleViewer::init()
{
// Restore previous viewer state.
//the program can done without this function
restoreStateFromFile();
// Opens help window
help();
}
QString Example_simpleViewer::helpString() const
{
QString text("S i m p l e V i e w e r
");
text += "Use the mouse to move the camera around the object. ";
text += "You can respectively revolve around, zoom and translate with the "
"three mouse buttons. ";
text += "Left and middle buttons pressed together rotate around the camera "
"view direction axis
";
text += "Pressing Alt and one of the function keys "
"(F1..F12) defines a camera keyFrame. ";
text += "Simply press the function key again to restore it. Several "
"keyFrames define a ";
text += "camera path. Paths are saved when you quit the application and "
"restored at next start.
";
text +=
"Press F to display the frame rate, A for the world axis, ";
text += "Alt+Return for full screen mode and Control+S to save "
"a snapshot. ";
text += "See the Keyboard tab in this window for a complete shortcut "
"list.
";
text += "Double clicks automates single click actions: A left button double "
"click aligns the closer axis with the camera (if close enough). ";
text += "A middle button double click fits the zoom of the camera and the "
"right button re-centers the scene.
";
text += "A left button double click while holding right button pressed "
"defines the camera Revolve Around Point. ";
text += "See the Mouse tab and the documentation web pages for "
"details.
";
text += "Press Escape to exit the viewer.";
return text;
} #ifndef EXAMPLE_SIMPLEVIEWER_H
#define EXAMPLE_SIMPLEVIEWER_H
#include
class Example_simpleViewer: public QGLViewer
{
public:
Example_simpleViewer();
protected:
virtual void draw();
virtual void init();
virtual QString helpString() const;
};
#endif // EXAMPLE_SIMPLEVIEWER_H