68 lines
1.5 KiB
C++
68 lines
1.5 KiB
C++
#ifndef POINTCLOUDPROCESSOR_H
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#define POINTCLOUDPROCESSOR_H
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#include <QObject>
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#include <QByteArray>
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include <CL/cl.h>
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class PointCloudProcessor : public QObject
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{
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Q_OBJECT
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public:
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explicit PointCloudProcessor(QObject *parent = nullptr);
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~PointCloudProcessor();
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// 初始化OpenCL
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bool initializeOpenCL();
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// 设置相机内参
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void setCameraIntrinsics(float fx, float fy, float cx, float cy);
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// 设置Z缩放因子
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void setZScaleFactor(float scale);
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// 将深度数据转换为点云（使用OpenCL GPU加速）
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void processDepthData(const QByteArray &depthData, uint32_t blockId);
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// 处理已经计算好的点云数据（x,y,z格式）
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void processPointCloudData(const QByteArray &cloudData, uint32_t blockId);
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signals:
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void pointCloudReady(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, uint32_t blockId);
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void errorOccurred(const QString &error);
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private:
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// 清理OpenCL资源
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void cleanupOpenCL();
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// 相机内参
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float m_fx;
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float m_fy;
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float m_cx;
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float m_cy;
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// Z缩放因子
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float m_zScale;
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// 图像尺寸
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int m_imageWidth;
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int m_imageHeight;
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int m_totalPoints;
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// OpenCL资源
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cl_platform_id m_platform;
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cl_device_id m_device;
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cl_context m_context;
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cl_command_queue m_queue;
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cl_program m_program;
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cl_kernel m_kernel;
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cl_mem m_depthBuffer;
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cl_mem m_xyzBuffer;
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bool m_clInitialized;
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};
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#endif // POINTCLOUDPROCESSOR_H
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