82 lines
2.2 KiB
C++
82 lines
2.2 KiB
C++
#ifndef POINTCLOUDGLWIDGET_H
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#define POINTCLOUDGLWIDGET_H
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#include <QOpenGLWidget>
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#include <QOpenGLFunctions>
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#include <QOpenGLShaderProgram>
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#include <QOpenGLBuffer>
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#include <QOpenGLVertexArrayObject>
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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 <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include <vector>
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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();
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void updatePointCloud(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud);
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void setColorMode(bool enabled) { m_colorMode = enabled ? 1 : 0; update(); }
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bool colorMode() const { return m_colorMode != 0; }
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void resetView(); // 重置视角到初始状态
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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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// 鼠标交互
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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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private:
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void setupShaders();
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void updateBuffers();
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private:
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// OpenGL资源
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QOpenGLShaderProgram *m_program;
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QOpenGLBuffer *m_vertexBuffer;
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QOpenGLVertexArrayObject *m_vao;
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// 点云数据
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std::vector<float> m_vertices;
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int m_pointCount;
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float m_minZ, m_maxZ; // 深度范围（用于着色）
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// 相机参数
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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_fov; // 透视投影视场角
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float m_rotationX; // X轴旋转角度
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float m_rotationY; // Y轴旋转角度
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QVector3D m_cloudCenter; // 点云中心
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float m_viewDistance; // 观察距离
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QVector3D m_panOffset; // 用户平移偏移
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float m_zoom; // 缩放因子
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// 鼠标交互状态
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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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// 首帧标志（只在首帧时自动居中）
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bool m_firstFrame;
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// 颜色模式（0=黑白，1=彩色）
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int m_colorMode;
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};
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#endif // POINTCLOUDGLWIDGET_H
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