feat: v0.1.0更新
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259
src/gui/PointCloudGLWidget.cpp
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259
src/gui/PointCloudGLWidget.cpp
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#include "gui/PointCloudGLWidget.h"
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#include <QDebug>
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#include <cmath>
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#include <cfloat>
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PointCloudGLWidget::PointCloudGLWidget(QWidget *parent)
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: QOpenGLWidget(parent)
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, m_program(nullptr)
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, m_vertexBuffer(nullptr)
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, m_vao(nullptr)
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, m_pointCount(0)
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, m_orthoSize(2000.0f) // 正交投影视野大小
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, m_rotationX(0.0f) // 从正面看（0度）
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, m_rotationY(0.0f) // 从正面看（0度）
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, m_translation(0.0f, 0.0f, 0.0f)
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, m_leftButtonPressed(false)
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, m_rightButtonPressed(false)
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{
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setMinimumSize(400, 400);
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}
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PointCloudGLWidget::~PointCloudGLWidget()
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{
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makeCurrent();
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if (m_vao) {
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m_vao->destroy();
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delete m_vao;
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}
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if (m_vertexBuffer) {
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m_vertexBuffer->destroy();
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delete m_vertexBuffer;
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}
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if (m_program) {
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delete m_program;
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}
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doneCurrent();
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}
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void PointCloudGLWidget::initializeGL()
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{
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initializeOpenGLFunctions();
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glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
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glEnable(GL_DEPTH_TEST);
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glEnable(GL_PROGRAM_POINT_SIZE);
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setupShaders();
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// 创建VAO和VBO
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m_vao = new QOpenGLVertexArrayObject(this);
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m_vao->create();
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m_vertexBuffer = new QOpenGLBuffer(QOpenGLBuffer::VertexBuffer);
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m_vertexBuffer->create();
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qDebug() << "[PointCloudGLWidget] OpenGL initialized";
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}
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void PointCloudGLWidget::setupShaders()
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{
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m_program = new QOpenGLShaderProgram(this);
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// 顶点着色器
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const char *vertexShaderSource = R"(
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#version 330 core
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layout(location = 0) in vec3 position;
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uniform mat4 mvp;
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void main() {
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gl_Position = mvp * vec4(position, 1.0);
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gl_PointSize = 2.0;
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}
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)";
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// 片段着色器
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const char *fragmentShaderSource = R"(
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#version 330 core
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out vec4 fragColor;
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void main() {
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fragColor = vec4(1.0, 1.0, 1.0, 1.0);
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}
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)";
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if (!m_program->addShaderFromSourceCode(QOpenGLShader::Vertex, vertexShaderSource)) {
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qDebug() << "[PointCloudGLWidget] Vertex shader error:" << m_program->log();
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}
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if (!m_program->addShaderFromSourceCode(QOpenGLShader::Fragment, fragmentShaderSource)) {
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qDebug() << "[PointCloudGLWidget] Fragment shader error:" << m_program->log();
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}
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if (!m_program->link()) {
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qDebug() << "[PointCloudGLWidget] Shader link error:" << m_program->log();
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} else {
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qDebug() << "[PointCloudGLWidget] Shaders compiled and linked successfully";
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}
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}
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void PointCloudGLWidget::resizeGL(int w, int h)
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{
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m_projection.setToIdentity();
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// 使用正交投影代替透视投影，避免"喷射状"效果
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float aspect = float(w) / float(h);
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m_projection.ortho(-m_orthoSize * aspect, m_orthoSize * aspect,
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-m_orthoSize, m_orthoSize,
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-50000.0f, 50000.0f); // 近平面和远平面
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}
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void PointCloudGLWidget::paintGL()
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{
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glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
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if (m_pointCount == 0 || !m_program) {
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return;
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}
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// 每帧重新计算正交投影矩阵（确保使用最新的m_orthoSize）
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m_projection.setToIdentity();
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float aspect = float(width()) / float(height());
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m_projection.ortho(-m_orthoSize * aspect, m_orthoSize * aspect,
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-m_orthoSize, m_orthoSize,
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-50000.0f, 50000.0f);
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// 设置view矩阵
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m_view.setToIdentity();
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m_view.rotate(m_rotationX, 1.0f, 0.0f, 0.0f);
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m_view.rotate(m_rotationY, 0.0f, 1.0f, 0.0f);
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m_view.translate(m_translation);
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// 设置model矩阵
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m_model.setToIdentity();
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// 计算MVP矩阵
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QMatrix4x4 mvp = m_projection * m_view * m_model;
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// 绑定shader和设置uniform
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m_program->bind();
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m_program->setUniformValue("mvp", mvp);
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// 绑定VAO和绘制
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m_vao->bind();
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glDrawArrays(GL_POINTS, 0, m_pointCount);
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m_vao->release();
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m_program->release();
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}
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void PointCloudGLWidget::mousePressEvent(QMouseEvent *event)
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{
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m_lastMousePos = event->pos();
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if (event->button() == Qt::LeftButton) {
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m_leftButtonPressed = true;
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} else if (event->button() == Qt::RightButton) {
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m_rightButtonPressed = true;
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}
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}
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void PointCloudGLWidget::mouseMoveEvent(QMouseEvent *event)
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{
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QPoint delta = event->pos() - m_lastMousePos;
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m_lastMousePos = event->pos();
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if (m_leftButtonPressed) {
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// 左键：旋转
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m_rotationX += delta.y() * 0.5f;
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m_rotationY += delta.x() * 0.5f;
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update();
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} else if (m_rightButtonPressed) {
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// 右键：平移（根据正交投影视野大小调整平移速度）
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float scale = m_orthoSize * 0.002f;
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m_translation.setX(m_translation.x() + delta.x() * scale);
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m_translation.setY(m_translation.y() - delta.y() * scale);
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update();
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}
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}
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void PointCloudGLWidget::mouseReleaseEvent(QMouseEvent *event)
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{
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if (event->button() == Qt::LeftButton) {
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m_leftButtonPressed = false;
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} else if (event->button() == Qt::RightButton) {
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m_rightButtonPressed = false;
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}
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}
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void PointCloudGLWidget::wheelEvent(QWheelEvent *event)
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{
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// 滚轮：缩放（调整正交投影视野大小）
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float delta = event->angleDelta().y() / 120.0f;
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m_orthoSize *= (1.0f - delta * 0.1f);
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m_orthoSize = qMax(100.0f, qMin(m_orthoSize, 10000.0f)); // 范围：100-10000
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update(); // 触发重绘，paintGL会使用新的m_orthoSize
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}
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void PointCloudGLWidget::updatePointCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud)
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{
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if (!cloud) {
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return;
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}
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// 过滤全零点并转换为顶点数组
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m_vertices.clear();
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float minX = FLT_MAX, maxX = -FLT_MAX;
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float minY = FLT_MAX, maxY = -FLT_MAX;
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float minZ = FLT_MAX, maxZ = -FLT_MAX;
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for (const auto& point : cloud->points) {
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if (point.z > 0.01f) {
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m_vertices.push_back(point.x);
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m_vertices.push_back(point.y);
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m_vertices.push_back(point.z);
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// 统计坐标范围
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if (point.x < minX) minX = point.x;
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if (point.x > maxX) maxX = point.x;
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if (point.y < minY) minY = point.y;
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if (point.y > maxY) maxY = point.y;
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if (point.z < minZ) minZ = point.z;
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if (point.z > maxZ) maxZ = point.z;
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}
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}
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m_pointCount = m_vertices.size() / 3;
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// 添加调试日志
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static int updateCount = 0;
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if (updateCount < 3 || updateCount % 100 == 0) {
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qDebug() << "[PointCloudGLWidget] Update" << updateCount << "- Points:" << m_pointCount
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<< "Total cloud size:" << cloud->size();
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qDebug() << " X range:" << minX << "to" << maxX;
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qDebug() << " Y range:" << minY << "to" << maxY;
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qDebug() << " Z range:" << minZ << "to" << maxZ;
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}
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updateCount++;
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updateBuffers();
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update();
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}
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void PointCloudGLWidget::updateBuffers()
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{
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if (m_vertices.empty() || !m_vao || !m_vertexBuffer) {
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return;
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}
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makeCurrent();
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m_vao->bind();
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m_vertexBuffer->bind();
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m_vertexBuffer->allocate(m_vertices.data(), m_vertices.size() * sizeof(float));
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// 设置顶点属性指针
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glEnableVertexAttribArray(0);
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glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 3 * sizeof(float), nullptr);
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m_vertexBuffer->release();
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m_vao->release();
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doneCurrent();
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}
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