refactor: 重构项目构建系统与点云查看器功能
1. 新增CloudUtils静态库与相关CMake配置 2. 重构VrUtils构建脚本，修正编译选项与依赖 3. 为Windows平台添加utf-8编译选项 4. 扩展PointCloudGLWidget功能：新增点云移除、选择信息叠加、增量相机适配 5. 优化点云添加接口，支持不重置相机视图 6. 修正激光数据保存时的DataType输出 7. 为Point3D结构体添加单位注释 8. 调整鼠标交互逻辑，统一按键操作行为
This commit is contained in:
杰仔
parent
44180b7f85
commit
9271a37a81
@ -1,16 +1,23 @@
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cmake_minimum_required(VERSION 3.14)
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project(WoodCamUtils LANGUAGES CXX)
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project(WoodCamUtils LANGUAGES C CXX)
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option(WOODCAM_BUILD_CLOUDVIEW3D "Build the Qt/OpenGL CloudView3D utility" ON)
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option(WOODCAM_BUILD_CLOUDUTILS "Build the CloudUtils static library" ON)
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# VrCommon is a header-oriented compatibility module. Keep it as an interface
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# target so consumers get the canonical VZNL_Types.h include path.
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add_library(VrCommon INTERFACE)
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target_include_directories(VrCommon INTERFACE
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${CMAKE_CURRENT_SOURCE_DIR}/VrCommon/Inc
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)
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if(NOT TARGET VrCommon)
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add_library(VrCommon INTERFACE)
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target_include_directories(VrCommon INTERFACE
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${CMAKE_CURRENT_SOURCE_DIR}/VrCommon/Inc
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)
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endif()
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if(WOODCAM_BUILD_CLOUDVIEW3D)
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add_subdirectory(CloudView3D)
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endif()
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if(WOODCAM_BUILD_CLOUDUTILS)
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add_subdirectory(CloudUtils)
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endif()
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46
CloudUtils/CMakeLists.txt
Normal file
46
CloudUtils/CMakeLists.txt
Normal file
@ -0,0 +1,46 @@
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cmake_minimum_required(VERSION 3.14)
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find_package(Qt5 REQUIRED COMPONENTS Core Gui)
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if(NOT TARGET VrCommon)
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add_library(VrCommon INTERFACE)
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target_include_directories(VrCommon INTERFACE
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${CMAKE_CURRENT_SOURCE_DIR}/../VrCommon/Inc
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)
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endif()
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if(NOT TARGET VrUtils)
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add_subdirectory(
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"${CMAKE_CURRENT_SOURCE_DIR}/../VrUtils"
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"${CMAKE_CURRENT_BINARY_DIR}/VrUtils"
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)
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endif()
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add_library(CloudUtils STATIC
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Src/LaserDataLoader.cpp
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Src/PointCloudImageUtils.cpp
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Inc/LaserDataLoader.h
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Inc/PointCloudImageUtils.h
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)
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set_target_properties(CloudUtils PROPERTIES
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CXX_STANDARD 11
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CXX_STANDARD_REQUIRED ON
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)
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target_include_directories(CloudUtils PUBLIC
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${CMAKE_CURRENT_SOURCE_DIR}/Inc
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)
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target_link_libraries(CloudUtils
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PUBLIC
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VrCommon
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Qt5::Core
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Qt5::Gui
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PRIVATE
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VrUtils
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)
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if(MSVC)
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target_compile_options(CloudUtils PRIVATE /utf-8)
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endif()
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@ -546,7 +546,7 @@ int LaserDataLoader::SaveLaserScanData(const std::string& fileName,
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// 写入文件头
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sw << "LineNum:" << lineNum << '\n';
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sw << "DataType:" << static_cast<int>(fileDataType) << '\n';
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sw << "DataType:" << 0 << '\n';
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sw << "ScanSpeed:" << scanSpeed << '\n';
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sw << "PointAdjust: 1" << '\n';
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sw << "MaxTimeStamp:" << maxTimeStamp << "_" << clockPerSecond << '\n';
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@ -36,6 +36,7 @@ target_link_libraries(CloudView3D PUBLIC
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)
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if(WIN32)
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target_compile_options(CloudView3D PRIVATE /utf-8)
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target_link_libraries(CloudView3D PUBLIC opengl32 glu32)
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elseif(UNIX AND NOT APPLE)
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target_link_libraries(CloudView3D PUBLIC GL GLU)
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@ -7,14 +7,14 @@
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struct Point3D
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{
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float x, y, z;
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float x, y, z; // millimetres
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Point3D() : x(0), y(0), z(0) {}
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Point3D(float _x, float _y, float _z) : x(_x), y(_y), z(_z) {}
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};
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struct Point3DRGB
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{
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float x, y, z;
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float x, y, z; // millimetres
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uint8_t r, g, b;
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float pointSize;
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@ -9,8 +9,9 @@
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#include <QVector3D>
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#include <QQuaternion>
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#include <QMouseEvent>
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#include <QWheelEvent>
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#include <vector>
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#include <QWheelEvent>
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#include <vector>
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#include <deque>
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#include "CloudView3DTypes.h"
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#include "VZNL_Types.h"
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@ -174,10 +175,12 @@ 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 appendPointCloud(const PointCloudXYZRGB& cloud, const QString& name = "");
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void clearPointClouds();
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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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bool resetCamera = true);
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void appendPointCloud(const PointCloudXYZRGB& cloud, const QString& name = "");
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void removeOldestPointCloud();
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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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@ -370,8 +373,8 @@ protected:
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void keyPressEvent(QKeyEvent* event) override;
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void resizeEvent(QResizeEvent* event) override;
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private:
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struct PointCloudData
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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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@ -460,10 +463,10 @@ private:
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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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PointCloudData& operator=(const PointCloudData&) = delete;
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};
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void computeBoundingBox();
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void updateProjection(const QMatrix4x4& modelView);
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float fittedCameraDistance(float padding = 1.05f) const;
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float minimumCameraDistance() const;
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@ -478,8 +481,9 @@ private:
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void drawBasicShapeSegments(); // 绘制基础图形
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void drawBasicShapePoints();
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void drawLineSegmentList(const QVector<LineSegment>& segments);
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void drawPosePoints(); // 绘制姿态点
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void drawAxisLabels(); // 绘制坐标轴 XYZ 标注
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void drawPosePoints(); // 绘制姿态点
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void drawAxisLabels(); // 绘制坐标轴 XYZ 标注
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void drawSelectionInfoOverlay(); // 右上角显示选点和测量结果
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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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@ -504,7 +508,9 @@ private:
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void updateViewAngleDisplay();
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bool handlePinchGesture(QPinchGesture* gesture);
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std::vector<PointCloudData> m_pointClouds;
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// Each entry owns QOpenGLBuffer objects. deque avoids relocating existing
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// entries when new scan lines are appended or the oldest one is removed.
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std::deque<PointCloudData> m_pointClouds;
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QMatrix4x4 m_projection;
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QMatrix4x4 m_view;
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@ -1,5 +1,5 @@
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#include "PointCloudGLWidget.h"
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#include <QDebug>
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#include <QDebug>
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#include <QtMath>
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#include <QDialog>
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#include <QDialogButtonBox>
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@ -7,22 +7,24 @@
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#include <QFormLayout>
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#include <QGestureEvent>
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#include <QHBoxLayout>
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#include <QFontMetrics>
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#include <QOpenGLContext>
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#include <QPainter>
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#include <QPinchGesture>
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#include <QPushButton>
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#include <QResizeEvent>
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#include <QStringList>
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#include <QToolButton>
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#include <QVBoxLayout>
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#include <algorithm>
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#include <cfloat>
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#include <cmath>
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#include <map>
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#define CLOUD_LOG_INFO(...) \
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qInfo().noquote() << QString::asprintf(__VA_ARGS__).trimmed()
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#define CLOUD_LOG_WARN(...) \
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qWarning().noquote() << QString::asprintf(__VA_ARGS__).trimmed()
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#define CLOUD_LOG_INFO(...) \
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qInfo().noquote() << QString::asprintf(__VA_ARGS__).trimmed()
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#define CLOUD_LOG_WARN(...) \
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qWarning().noquote() << QString::asprintf(__VA_ARGS__).trimmed()
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// OpenGL/GLU 头文件
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#ifdef _WIN32
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@ -410,7 +412,7 @@ void PointCloudGLWidget::initializeGL()
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{
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initializeOpenGLFunctions();
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CLOUD_LOG_INFO("[CloudView] OpenGL initialized, version: %s\n", reinterpret_cast<const char*>(glGetString(GL_VERSION)));
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CLOUD_LOG_INFO("[CloudView] OpenGL initialized, version: %s\n", reinterpret_cast<const char*>(glGetString(GL_VERSION)));
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glClearColor(0.15f, 0.15f, 0.15f, 1.0f);
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glEnable(GL_DEPTH_TEST);
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@ -471,19 +473,11 @@ bool PointCloudGLWidget::ensureShader()
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"void main() {\n"
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" gl_FragColor = vec4(vColor, vAlpha);\n"
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"}\n")) {
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LOG_ERROR("[CloudView] Shader compile failed: %s\n",
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program->log().isEmpty()
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? "unknown error"
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: qPrintable(program->log()));
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delete program;
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return false;
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}
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if (!program->link()) {
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LOG_ERROR("[CloudView] Shader link failed: %s\n",
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program->log().isEmpty()
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? "unknown error"
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: qPrintable(program->log()));
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delete program;
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return false;
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}
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@ -652,7 +646,7 @@ void PointCloudGLWidget::paintGL()
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if (++frameCount % 100 == 0) {
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// 从四元数转换为欧拉角用于显示
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QVector3D euler = m_rotation.toEulerAngles();
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CLOUD_LOG_INFO("[CloudView] Current rotation: pitch=%.1f, yaw=%.1f, roll=%.1f\n",
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CLOUD_LOG_INFO("[CloudView] Current rotation: pitch=%.1f, yaw=%.1f, roll=%.1f\n",
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euler.x(), euler.y(), euler.z());
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}
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@ -731,14 +725,15 @@ void PointCloudGLWidget::paintGL()
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// 使用 QPainter 绘制坐标轴 XYZ 标注
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drawAxisLabels();
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drawSelectionInfoOverlay();
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}
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void PointCloudGLWidget::addPointCloud(const PointCloudXYZ& cloud, const QString& name)
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{
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CLOUD_LOG_INFO("[CloudView] addPointCloud called, cloud size: %zu\n", cloud.size());
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CLOUD_LOG_INFO("[CloudView] addPointCloud called, cloud size: %zu\n", cloud.size());
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if (cloud.empty()) {
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CLOUD_LOG_WARN("[CloudView] Cloud is empty, returning\n");
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CLOUD_LOG_WARN("[CloudView] Cloud is empty, returning\n");
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return;
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}
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@ -802,10 +797,10 @@ void PointCloudGLWidget::addPointCloud(const PointCloudXYZ& cloud, const QString
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data.pointsPerLine = static_cast<int>(cloud.size()) / data.totalLines;
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}
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CLOUD_LOG_INFO("[CloudView] Valid vertices count: %zu, colorIndex: %d, totalLines: %d, pointsPerLine: %d\n",
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CLOUD_LOG_INFO("[CloudView] Valid vertices count: %zu, colorIndex: %d, totalLines: %d, pointsPerLine: %d\n",
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data.vertices.size() / 3, data.colorIndex, data.totalLines, data.pointsPerLine);
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m_pointClouds.push_back(std::move(data));
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m_pointClouds.push_back(std::move(data));
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// 上传 VBO（如果当前在 GL 上下文中）
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makeCurrent();
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@ -813,17 +808,18 @@ void PointCloudGLWidget::addPointCloud(const PointCloudXYZ& cloud, const QString
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doneCurrent();
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computeBoundingBox();
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CLOUD_LOG_INFO("[CloudView] BoundingBox min: (%.3f, %.3f, %.3f) max: (%.3f, %.3f, %.3f)\n",
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CLOUD_LOG_INFO("[CloudView] BoundingBox min: (%.3f, %.3f, %.3f) max: (%.3f, %.3f, %.3f)\n",
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m_minBound.x(), m_minBound.y(), m_minBound.z(),
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m_maxBound.x(), m_maxBound.y(), m_maxBound.z());
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CLOUD_LOG_INFO("[CloudView] Center: (%.3f, %.3f, %.3f) Distance: %.3f\n",
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CLOUD_LOG_INFO("[CloudView] Center: (%.3f, %.3f, %.3f) Distance: %.3f\n",
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m_center.x(), m_center.y(), m_center.z(), m_distance);
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resetView();
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update();
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}
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void PointCloudGLWidget::addPointCloud(const PointCloudXYZRGB& cloud, const QString& name)
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void PointCloudGLWidget::addPointCloud(const PointCloudXYZRGB& cloud, const QString& name,
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bool resetCamera)
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{
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if (cloud.empty()) {
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return;
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@ -913,7 +909,7 @@ void PointCloudGLWidget::addPointCloud(const PointCloudXYZRGB& cloud, const QStr
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group.indices = std::move(pair.second);
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data.customPointSizeGroups.push_back(std::move(group));
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}
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CLOUD_LOG_INFO("[CloudView] Found %zu custom point size groups\n", data.customPointSizeGroups.size());
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CLOUD_LOG_INFO("[CloudView] Found %zu custom point size groups\n", data.customPointSizeGroups.size());
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}
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// 计算每线点数
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@ -921,17 +917,27 @@ void PointCloudGLWidget::addPointCloud(const PointCloudXYZRGB& cloud, const QStr
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data.pointsPerLine = static_cast<int>(cloud.size()) / data.totalLines;
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}
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m_pointClouds.push_back(std::move(data));
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m_pointClouds.push_back(std::move(data));
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// 上传 VBO
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makeCurrent();
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uploadToVBO(m_pointClouds.back());
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doneCurrent();
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computeBoundingBox();
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resetView();
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update();
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}
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doneCurrent();
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computeBoundingBox();
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if (resetCamera) {
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resetView();
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} else {
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// A line-scan cloud grows along X over time. Keep the user's view
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// orientation/pan, but expand the camera distance when the retained
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// cloud no longer fits in the frustum.
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const float fittedDistance = fittedCameraDistance();
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if (std::isfinite(fittedDistance)) {
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m_distance = qMax(m_distance, fittedDistance);
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}
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}
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update();
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}
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void PointCloudGLWidget::appendPointCloud(const PointCloudXYZRGB& cloud,
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const QString& name)
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@ -1016,16 +1022,19 @@ void PointCloudGLWidget::appendPointCloud(const PointCloudXYZRGB& cloud,
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static_cast<int>(data.vertices.size() / 3) / data.totalLines;
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}
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makeCurrent();
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uploadToVBO(data);
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doneCurrent();
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makeCurrent();
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uploadToVBO(data);
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doneCurrent();
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computeBoundingBox();
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const float fittedDistance = fittedCameraDistance();
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if (std::isfinite(fittedDistance)) {
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m_distance = qMax(m_distance, fittedDistance);
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}
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update();
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}
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computeBoundingBox();
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m_distance = qMax(m_distance, fittedCameraDistance());
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update();
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}
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void PointCloudGLWidget::clearPointClouds()
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void PointCloudGLWidget::clearPointClouds()
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{
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// 释放所有 VBO
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makeCurrent();
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@ -1047,8 +1056,25 @@ void PointCloudGLWidget::clearPointClouds()
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m_center = QVector3D(0, 0, 0);
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m_colorIndex = 0; // 重置颜色索引
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resetView();
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update();
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}
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update();
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}
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void PointCloudGLWidget::removeOldestPointCloud()
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{
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if (m_pointClouds.empty()) {
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return;
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}
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// deque::pop_front does not relocate the remaining PointCloudData objects.
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makeCurrent();
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releaseVBO(m_pointClouds.front());
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doneCurrent();
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m_pointClouds.pop_front();
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m_selectedLine = SelectedLineInfo();
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computeBoundingBox();
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update();
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}
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void PointCloudGLWidget::setPointCloudColor(PointCloudColor color)
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{
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@ -1076,7 +1102,7 @@ void PointCloudGLWidget::resetView()
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m_pan = QVector3D(0, 0, 0);
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m_distance = fittedCameraDistance();
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CLOUD_LOG_INFO("[CloudView] resetView: size=(%.3f, %.3f, %.3f) maxSize=%.3f distance=%.3f\n",
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CLOUD_LOG_INFO("[CloudView] resetView: size=(%.3f, %.3f, %.3f) maxSize=%.3f distance=%.3f\n",
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size.x(), size.y(), size.z(), maxSize, m_distance);
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emit viewAnglesChanged(m_rotationX, m_rotationY, m_rotationZ);
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@ -1110,18 +1136,36 @@ void PointCloudGLWidget::updateProjection(const QMatrix4x4& modelView)
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maximumDepth = qMax(maximumDepth, depth);
|
||||
}
|
||||
|
||||
constexpr float kMinimumNearPlane = 0.01f;
|
||||
float nearPlane = kMinimumNearPlane;
|
||||
float farPlane = 1.0f;
|
||||
if (maximumDepth > kMinimumNearPlane) {
|
||||
constexpr float kMinimumNearPlane = 0.01f;
|
||||
float nearPlane = kMinimumNearPlane;
|
||||
float farPlane = 1.0f;
|
||||
const float boundsDiagonal = (m_maxBound - m_minBound).length();
|
||||
const float safeDiagonal = std::isfinite(boundsDiagonal)
|
||||
? qMax(boundsDiagonal, 1.0f)
|
||||
: 1.0f;
|
||||
const float safeCameraDistance = std::isfinite(m_distance)
|
||||
? qMax(m_distance, 1.0f)
|
||||
: 1.0f;
|
||||
if (std::isfinite(minimumDepth) && std::isfinite(maximumDepth) &&
|
||||
maximumDepth > kMinimumNearPlane) {
|
||||
// 点云贴近或跨过相机时保持很小的近裁剪距离，避免前侧点被裁掉。
|
||||
if (minimumDepth > kMinimumNearPlane) {
|
||||
nearPlane = qMax(kMinimumNearPlane, minimumDepth * 0.5f);
|
||||
}
|
||||
// 远裁剪面仅覆盖当前内容，并限制 near/far 比值以保证深度缓冲精度。
|
||||
farPlane = qMax(nearPlane + 1.0f, maximumDepth * 1.5f);
|
||||
nearPlane = qMax(nearPlane, farPlane / 100000.0f);
|
||||
}
|
||||
farPlane = qMax(nearPlane + 1.0f, maximumDepth * 1.5f);
|
||||
nearPlane = qMax(nearPlane, farPlane / 100000.0f);
|
||||
} else {
|
||||
// The scan range can cross the current camera plane while the view
|
||||
// is being updated. Keep a conservative frustum instead of letting
|
||||
// all points fall outside a near/far clip interval.
|
||||
nearPlane = kMinimumNearPlane;
|
||||
farPlane = safeCameraDistance + safeDiagonal * 2.0f;
|
||||
}
|
||||
|
||||
if (!std::isfinite(farPlane) || farPlane <= nearPlane) {
|
||||
farPlane = nearPlane + safeCameraDistance + safeDiagonal * 2.0f;
|
||||
}
|
||||
|
||||
const float aspect = static_cast<float>(width()) /
|
||||
static_cast<float>(height() > 0 ? height() : 1);
|
||||
@ -1209,7 +1253,7 @@ void PointCloudGLWidget::setViewAngles(float rotX, float rotY, float rotZ)
|
||||
m_rotation = QQuaternion::fromEulerAngles(m_rotationX, m_rotationY, m_rotationZ);
|
||||
m_distance = qMax(m_distance, minimumCameraDistance());
|
||||
|
||||
CLOUD_LOG_INFO("[CloudView] setViewAngles: rotX=%.1f, rotY=%.1f, rotZ=%.1f\n", rotX, rotY, rotZ);
|
||||
CLOUD_LOG_INFO("[CloudView] setViewAngles: rotX=%.1f, rotY=%.1f, rotZ=%.1f\n", rotX, rotY, rotZ);
|
||||
|
||||
emit viewAnglesChanged(m_rotationX, m_rotationY, m_rotationZ);
|
||||
update();
|
||||
@ -1325,7 +1369,7 @@ void PointCloudGLWidget::updateSelectedPointCoord(int index, float x, float y, f
|
||||
m_selectedPoints[index].y = y;
|
||||
m_selectedPoints[index].z = z;
|
||||
|
||||
CLOUD_LOG_INFO("[CloudView] Updated selected point %d to (%.3f, %.3f, %.3f)\n", index, x, y, z);
|
||||
CLOUD_LOG_INFO("[CloudView] Updated selected point %d to (%.3f, %.3f, %.3f)\n", index, x, y, z);
|
||||
|
||||
// 刷新显示
|
||||
update();
|
||||
@ -1350,7 +1394,7 @@ void PointCloudGLWidget::setSelectedPointCoord(int index, float x, float y, floa
|
||||
m_selectedPoints[index].lineIndex = -1;
|
||||
m_selectedPoints[index].pointIndexInLine = -1;
|
||||
|
||||
CLOUD_LOG_INFO("[CloudView] Set selected point %d to (%.3f, %.3f, %.3f)\n", index, x, y, z);
|
||||
CLOUD_LOG_INFO("[CloudView] Set selected point %d to (%.3f, %.3f, %.3f)\n", index, x, y, z);
|
||||
|
||||
// 刷新显示
|
||||
update();
|
||||
@ -1683,10 +1727,10 @@ SelectedPointInfo PointCloudGLWidget::pickPoint(int screenX, int screenY)
|
||||
}
|
||||
}
|
||||
|
||||
CLOUD_LOG_INFO("[CloudView] Point selected: (%.3f, %.3f, %.3f) lineIndex=%d pointIndexInLine=%d screenDist=%.1f\n",
|
||||
CLOUD_LOG_INFO("[CloudView] Point selected: (%.3f, %.3f, %.3f) lineIndex=%d pointIndexInLine=%d screenDist=%.1f\n",
|
||||
bestX, bestY, bestZ, bestLineIndex, result.pointIndexInLine, std::sqrt(minScreenDist));
|
||||
} else {
|
||||
CLOUD_LOG_INFO("[CloudView] No point selected, minScreenDist=%.1f\n", std::sqrt(minScreenDist));
|
||||
CLOUD_LOG_INFO("[CloudView] No point selected, minScreenDist=%.1f\n", std::sqrt(minScreenDist));
|
||||
}
|
||||
|
||||
return result;
|
||||
@ -1923,45 +1967,110 @@ void PointCloudGLWidget::drawAxisLabels()
|
||||
painter.end();
|
||||
}
|
||||
|
||||
void PointCloudGLWidget::drawSelectionInfoOverlay()
|
||||
{
|
||||
QVector<SelectedPointInfo> validPoints;
|
||||
for (const SelectedPointInfo& point : m_selectedPoints) {
|
||||
if (point.valid) {
|
||||
validPoints.append(point);
|
||||
}
|
||||
}
|
||||
if (validPoints.isEmpty()) {
|
||||
return;
|
||||
}
|
||||
|
||||
QStringList lines;
|
||||
for (int i = 0; i < validPoints.size() && i < MAX_SELECTED_POINTS; ++i) {
|
||||
const SelectedPointInfo& point = validPoints[i];
|
||||
lines.append(QString("P%1 X: %2 mm Y: %3 mm Z: %4 mm")
|
||||
.arg(i + 1)
|
||||
.arg(point.x, 0, 'f', 3)
|
||||
.arg(point.y, 0, 'f', 3)
|
||||
.arg(point.z, 0, 'f', 3));
|
||||
}
|
||||
|
||||
if (validPoints.size() >= 2) {
|
||||
const SelectedPointInfo& p1 = validPoints[0];
|
||||
const SelectedPointInfo& p2 = validPoints[1];
|
||||
const float dx = p2.x - p1.x;
|
||||
const float dy = p2.y - p1.y;
|
||||
const float dz = p2.z - p1.z;
|
||||
const float distance = calculateDistance(p1, p2);
|
||||
const int precision = distance < 0.001f ? 6 : (distance < 1.0f ? 4 : 3);
|
||||
lines.append(QString("Distance: %1 mm").arg(distance, 0, 'f', precision));
|
||||
lines.append(QString("dX: %1 mm dY: %2 mm dZ: %3 mm")
|
||||
.arg(dx, 0, 'f', precision)
|
||||
.arg(dy, 0, 'f', precision)
|
||||
.arg(dz, 0, 'f', precision));
|
||||
}
|
||||
|
||||
QPainter painter(this);
|
||||
painter.setRenderHint(QPainter::Antialiasing);
|
||||
painter.setRenderHint(QPainter::TextAntialiasing);
|
||||
|
||||
QFont font = painter.font();
|
||||
font.setPointSize(10);
|
||||
painter.setFont(font);
|
||||
const QFontMetrics metrics(font);
|
||||
|
||||
int textWidth = 0;
|
||||
for (const QString& line : lines) {
|
||||
textWidth = qMax(textWidth, metrics.horizontalAdvance(line));
|
||||
}
|
||||
|
||||
const int margin = 10;
|
||||
const int lineHeight = metrics.lineSpacing();
|
||||
const int textX = qMax(margin, width() - textWidth - margin);
|
||||
int textY = margin + metrics.ascent();
|
||||
for (int i = 0; i < lines.size(); ++i) {
|
||||
painter.setPen(QColor(240, 244, 248));
|
||||
painter.drawText(textX, textY, lines[i]);
|
||||
textY += lineHeight;
|
||||
}
|
||||
}
|
||||
|
||||
void PointCloudGLWidget::mousePressEvent(QMouseEvent* event)
|
||||
{
|
||||
m_lastMousePos = event->pos();
|
||||
|
||||
if (event->button() == Qt::LeftButton) {
|
||||
// Ctrl+左键：选点
|
||||
if (event->modifiers() & Qt::ControlModifier) {
|
||||
makeCurrent();
|
||||
SelectedPointInfo point = pickPoint(event->pos().x(), event->pos().y());
|
||||
doneCurrent();
|
||||
|
||||
if (point.valid) {
|
||||
if (m_measureDistanceEnabled) {
|
||||
// 启用测距：最多保留两个点
|
||||
if (m_selectedPoints.size() >= MAX_SELECTED_POINTS) {
|
||||
m_selectedPoints.clear();
|
||||
}
|
||||
m_selectedPoints.append(point);
|
||||
|
||||
emit pointSelected(point);
|
||||
|
||||
if (m_selectedPoints.size() == 2) {
|
||||
const float distance = calculateDistance(m_selectedPoints[0], m_selectedPoints[1]);
|
||||
const float dx = m_selectedPoints[1].x - m_selectedPoints[0].x;
|
||||
const float dy = m_selectedPoints[1].y - m_selectedPoints[0].y;
|
||||
const float dz = m_selectedPoints[1].z - m_selectedPoints[0].z;
|
||||
emit twoPointsSelected(m_selectedPoints[0], m_selectedPoints[1], distance);
|
||||
emit measurementFinished(m_selectedPoints[0], m_selectedPoints[1], distance, dx, dy, dz);
|
||||
}
|
||||
} else {
|
||||
// 未启用测距：只保留一个点
|
||||
m_selectedPoints.clear();
|
||||
m_selectedPoints.append(point);
|
||||
emit pointSelected(point);
|
||||
}
|
||||
|
||||
update();
|
||||
}
|
||||
} else if (event->modifiers() & Qt::ShiftModifier) {
|
||||
m_lastMousePos = event->pos();
|
||||
|
||||
if (event->button() == Qt::LeftButton) {
|
||||
// Alt+左键：依次选择两个点并测距
|
||||
if (event->modifiers() & Qt::AltModifier) {
|
||||
makeCurrent();
|
||||
SelectedPointInfo point = pickPoint(event->pos().x(), event->pos().y());
|
||||
doneCurrent();
|
||||
|
||||
if (point.valid) {
|
||||
if (m_selectedPoints.size() >= MAX_SELECTED_POINTS) {
|
||||
m_selectedPoints.clear();
|
||||
}
|
||||
m_selectedPoints.append(point);
|
||||
emit pointSelected(point);
|
||||
|
||||
if (m_selectedPoints.size() == 2) {
|
||||
const float distance = calculateDistance(m_selectedPoints[0], m_selectedPoints[1]);
|
||||
const float dx = m_selectedPoints[1].x - m_selectedPoints[0].x;
|
||||
const float dy = m_selectedPoints[1].y - m_selectedPoints[0].y;
|
||||
const float dz = m_selectedPoints[1].z - m_selectedPoints[0].z;
|
||||
emit twoPointsSelected(m_selectedPoints[0], m_selectedPoints[1], distance);
|
||||
emit measurementFinished(m_selectedPoints[0], m_selectedPoints[1], distance, dx, dy, dz);
|
||||
}
|
||||
|
||||
update();
|
||||
}
|
||||
} else if (event->modifiers() & Qt::ControlModifier) {
|
||||
// Ctrl+左键：选择一个点
|
||||
makeCurrent();
|
||||
SelectedPointInfo point = pickPoint(event->pos().x(), event->pos().y());
|
||||
doneCurrent();
|
||||
|
||||
if (point.valid) {
|
||||
m_selectedPoints.clear();
|
||||
m_selectedPoints.append(point);
|
||||
emit pointSelected(point);
|
||||
update();
|
||||
}
|
||||
} else if (event->modifiers() & Qt::ShiftModifier) {
|
||||
// Shift+左键：选线
|
||||
makeCurrent();
|
||||
SelectedPointInfo point = pickPoint(event->pos().x(), event->pos().y());
|
||||
@ -2055,38 +2164,29 @@ void PointCloudGLWidget::mouseDoubleClickEvent(QMouseEvent* event)
|
||||
void PointCloudGLWidget::mouseMoveEvent(QMouseEvent* event)
|
||||
{
|
||||
QPoint delta = event->pos() - m_lastMousePos;
|
||||
m_lastMousePos = event->pos();
|
||||
|
||||
if (m_leftButtonPressed) {
|
||||
// Alt+左键拖动：绕视线方向旋转（滚转）
|
||||
if (event->modifiers() & Qt::AltModifier) {
|
||||
// 绕Z轴（视线方向）旋转（修正方向）
|
||||
float angle = -delta.x() * 0.5f; // 取反修正方向
|
||||
QQuaternion deltaRotation = QQuaternion::fromAxisAndAngle(QVector3D(0, 0, 1), angle);
|
||||
m_rotation = deltaRotation * m_rotation;
|
||||
m_rotationZ = NormalizeAngleDegrees(m_rotationZ + angle);
|
||||
} else {
|
||||
// 普通左键拖动：基于当前物体坐标系的旋转
|
||||
// 鼠标水平移动 -> 绕当前Y轴旋转
|
||||
// 鼠标垂直移动 -> 绕当前X轴旋转
|
||||
|
||||
// 计算旋转角度
|
||||
float angleX = delta.y() * 0.5f; // 垂直移动
|
||||
float angleY = delta.x() * 0.5f; // 水平移动
|
||||
|
||||
// 创建增量旋转四元数（在相机空间中）
|
||||
// 先绕X轴旋转（俯仰），再绕Y轴旋转（偏航）
|
||||
QQuaternion deltaRotationX = QQuaternion::fromAxisAndAngle(QVector3D(1, 0, 0), angleX);
|
||||
QQuaternion deltaRotationY = QQuaternion::fromAxisAndAngle(QVector3D(0, 1, 0), angleY);
|
||||
QQuaternion deltaRotation = deltaRotationY * deltaRotationX;
|
||||
|
||||
// 应用增量旋转（左乘，相机空间旋转）
|
||||
m_rotation = deltaRotation * m_rotation;
|
||||
|
||||
// 更新欧拉角（用于显示），归一化到 ±180°
|
||||
m_rotationX = NormalizeAngleDegrees(m_rotationX + angleX);
|
||||
m_rotationY = NormalizeAngleDegrees(m_rotationY + angleY);
|
||||
}
|
||||
m_lastMousePos = event->pos();
|
||||
|
||||
if (m_leftButtonPressed) {
|
||||
// 左键拖动：基于当前物体坐标系的旋转
|
||||
// 鼠标水平移动 -> 绕当前Y轴旋转
|
||||
// 鼠标垂直移动 -> 绕当前X轴旋转
|
||||
|
||||
// 计算旋转角度
|
||||
float angleX = delta.y() * 0.5f; // 垂直移动
|
||||
float angleY = delta.x() * 0.5f; // 水平移动
|
||||
|
||||
// 创建增量旋转四元数（在相机空间中）
|
||||
// 先绕X轴旋转（俯仰），再绕Y轴旋转（偏航）
|
||||
QQuaternion deltaRotationX = QQuaternion::fromAxisAndAngle(QVector3D(1, 0, 0), angleX);
|
||||
QQuaternion deltaRotationY = QQuaternion::fromAxisAndAngle(QVector3D(0, 1, 0), angleY);
|
||||
QQuaternion deltaRotation = deltaRotationY * deltaRotationX;
|
||||
|
||||
// 应用增量旋转（左乘，相机空间旋转）
|
||||
m_rotation = deltaRotation * m_rotation;
|
||||
|
||||
// 更新欧拉角（用于显示），归一化到 ±180°
|
||||
m_rotationX = NormalizeAngleDegrees(m_rotationX + angleX);
|
||||
m_rotationY = NormalizeAngleDegrees(m_rotationY + angleY);
|
||||
|
||||
// 发送角度变化信号
|
||||
m_distance = qMax(m_distance, minimumCameraDistance());
|
||||
@ -2128,10 +2228,14 @@ void PointCloudGLWidget::wheelEvent(QWheelEvent* event)
|
||||
update();
|
||||
}
|
||||
|
||||
void PointCloudGLWidget::keyPressEvent(QKeyEvent* event)
|
||||
{
|
||||
if (event->key() == Qt::Key_Space) {
|
||||
resetView();
|
||||
void PointCloudGLWidget::keyPressEvent(QKeyEvent* event)
|
||||
{
|
||||
if (event->key() == Qt::Key_Escape) {
|
||||
m_selectedPoints.clear();
|
||||
update();
|
||||
event->accept();
|
||||
} else if (event->key() == Qt::Key_Space) {
|
||||
resetView();
|
||||
} else {
|
||||
QOpenGLWidget::keyPressEvent(event);
|
||||
}
|
||||
|
||||
@ -1,34 +1,112 @@
|
||||
ADD_DEFINITIONS(-D__OPENVMS__) #log4cpp 编译选项
|
||||
if(NOT WIN32)
|
||||
ADD_DEFINITIONS(-DLOG4CPP_HAVE_GETTIMEOFDAY) #ARM/Linux 上直接启用 gettimeofday，确保毫秒正确
|
||||
endif()
|
||||
ADD_DEFINITIONS(-DVR_UTILS_EXPORTS) #VrUtils 导出宏定义
|
||||
# ADD_COMPILE_OPTIONS(-Wno-deprecated-declarations) #auto_ptr警告消除
|
||||
|
||||
# 设置CMake策略，允许AUTOMOC和AUTOUIC处理.hh文件
|
||||
# cmake_policy(SET CMP0100 NEW)
|
||||
|
||||
INCLUDE_DIRECTORIES(
|
||||
./_Inc
|
||||
./Inc
|
||||
./MD5
|
||||
./tinyxml2
|
||||
./log4cpp/include
|
||||
)
|
||||
|
||||
AUX_SOURCE_DIRECTORY(./Src SrcS)
|
||||
AUX_SOURCE_DIRECTORY(./MD5 MD5SrcS)
|
||||
AUX_SOURCE_DIRECTORY(./tinyxml2 TinyxmlSrcS)
|
||||
AUX_SOURCE_DIRECTORY(./log4cpp/src LogSrcS)
|
||||
|
||||
# 对特定的.hh文件设置SKIP_AUTOGEN属性
|
||||
set_property(SOURCE log4cpp/src/StringUtil.hh PROPERTY SKIP_AUTOGEN ON)
|
||||
set_property(SOURCE log4cpp/src/PortabilityImpl.hh PROPERTY SKIP_AUTOGEN ON)
|
||||
set_property(SOURCE log4cpp/src/Properties.hh PROPERTY SKIP_AUTOGEN ON)
|
||||
set_property(SOURCE log4cpp/src/Localtime.hh PROPERTY SKIP_AUTOGEN ON)
|
||||
set_property(SOURCE log4cpp/src/PropertyConfiguratorImpl.hh PROPERTY SKIP_AUTOGEN ON)
|
||||
|
||||
ADD_LIBRARY(VrUtils STATIC ${SrcS} ${MD5SrcS}
|
||||
${TinyxmlSrcS}
|
||||
${LogSrcS}
|
||||
)
|
||||
cmake_minimum_required(VERSION 3.14)
|
||||
|
||||
# Keep this source list aligned with VrUtils.pro. Do not glob Src/: it contains
|
||||
# legacy standalone sources such as getopt.c that are not part of VrUtils.
|
||||
set(VRUTILS_SOURCES
|
||||
Src/VrDateUtils.cpp
|
||||
Src/VrFileUtils.cpp
|
||||
Src/VrLog.cpp
|
||||
Src/VrNetUtils.cpp
|
||||
Src/VrStringUtils.cpp
|
||||
Src/VrTimeUtils.cpp
|
||||
ini/ConvertUTF.c
|
||||
log4cpp/src/AbortAppender.cpp
|
||||
log4cpp/src/Appender.cpp
|
||||
log4cpp/src/AppenderSkeleton.cpp
|
||||
log4cpp/src/AppendersFactory.cpp
|
||||
log4cpp/src/BasicConfigurator.cpp
|
||||
log4cpp/src/BasicLayout.cpp
|
||||
log4cpp/src/BufferingAppender.cpp
|
||||
log4cpp/src/Category.cpp
|
||||
log4cpp/src/CategoryStream.cpp
|
||||
log4cpp/src/Configurator.cpp
|
||||
log4cpp/src/DailyRollingFileAppender.cpp
|
||||
log4cpp/src/DllMain.cpp
|
||||
log4cpp/src/DummyThreads.cpp
|
||||
log4cpp/src/FactoryParams.cpp
|
||||
log4cpp/src/FileAppender.cpp
|
||||
log4cpp/src/Filter.cpp
|
||||
log4cpp/src/FixedContextCategory.cpp
|
||||
log4cpp/src/HierarchyMaintainer.cpp
|
||||
log4cpp/src/IdsaAppender.cpp
|
||||
log4cpp/src/LayoutAppender.cpp
|
||||
log4cpp/src/LayoutsFactory.cpp
|
||||
log4cpp/src/LevelEvaluator.cpp
|
||||
log4cpp/src/Localtime.cpp
|
||||
log4cpp/src/LoggingEvent.cpp
|
||||
log4cpp/src/MSThreads.cpp
|
||||
log4cpp/src/Manipulator.cpp
|
||||
log4cpp/src/NDC.cpp
|
||||
log4cpp/src/NTEventLogAppender.cpp
|
||||
log4cpp/src/OmniThreads.cpp
|
||||
log4cpp/src/OstreamAppender.cpp
|
||||
log4cpp/src/PThreads.cpp
|
||||
log4cpp/src/PassThroughLayout.cpp
|
||||
log4cpp/src/PatternLayout.cpp
|
||||
log4cpp/src/PortabilityImpl.cpp
|
||||
log4cpp/src/Priority.cpp
|
||||
log4cpp/src/Properties.cpp
|
||||
log4cpp/src/PropertyConfigurator.cpp
|
||||
log4cpp/src/PropertyConfiguratorImpl.cpp
|
||||
log4cpp/src/RemoteSyslogAppender.cpp
|
||||
log4cpp/src/RollingFileAppender.cpp
|
||||
log4cpp/src/SimpleConfigurator.cpp
|
||||
log4cpp/src/SimpleLayout.cpp
|
||||
log4cpp/src/SmtpAppender.cpp
|
||||
log4cpp/src/StringQueueAppender.cpp
|
||||
log4cpp/src/StringUtil.cpp
|
||||
log4cpp/src/SyslogAppender.cpp
|
||||
log4cpp/src/TimeStamp.cpp
|
||||
log4cpp/src/TriggeringEventEvaluatorFactory.cpp
|
||||
log4cpp/src/Win32DebugAppender.cpp
|
||||
log4cpp/src/snprintf.c
|
||||
tinyxml2/tinyxml2.cpp
|
||||
jsoncpp/json_reader.cpp
|
||||
jsoncpp/json_value.cpp
|
||||
jsoncpp/json_writer.cpp
|
||||
)
|
||||
|
||||
add_library(VrUtils STATIC ${VRUTILS_SOURCES})
|
||||
|
||||
set_target_properties(VrUtils PROPERTIES
|
||||
CXX_STANDARD 11
|
||||
CXX_STANDARD_REQUIRED ON
|
||||
)
|
||||
|
||||
target_include_directories(VrUtils
|
||||
PUBLIC
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/Inc
|
||||
PRIVATE
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/ini
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/tinyxml2
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/jsoncpp
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/log4cpp/include
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/log4cpp/src
|
||||
)
|
||||
|
||||
target_compile_definitions(VrUtils PRIVATE
|
||||
TINYXML2_EXPORT
|
||||
HAVE_SNPRINTF
|
||||
LOG4CPP_HAVE_SSTREAM=1
|
||||
VR_UTILS_EXPORTS
|
||||
)
|
||||
|
||||
if(UNIX AND NOT APPLE)
|
||||
target_compile_definitions(VrUtils PRIVATE LOG4CPP_HAVE_UNISTD_H)
|
||||
set_target_properties(VrUtils PROPERTIES POSITION_INDEPENDENT_CODE ON)
|
||||
endif()
|
||||
|
||||
find_package(Threads REQUIRED)
|
||||
target_link_libraries(VrUtils PUBLIC Threads::Threads)
|
||||
|
||||
if(WIN32)
|
||||
# qmake's Windows mkspec supplies these definitions. log4cpp uses the
|
||||
# generic Win32 API names and therefore must see the same character mode.
|
||||
target_compile_definitions(VrUtils PRIVATE UNICODE _UNICODE)
|
||||
target_link_libraries(VrUtils PUBLIC ws2_32 iphlpapi advapi32 shell32)
|
||||
endif()
|
||||
|
||||
if(MSVC)
|
||||
target_compile_definitions(VrUtils PRIVATE _HAS_AUTO_PTR_ETC=1)
|
||||
target_compile_options(VrUtils PRIVATE /utf-8)
|
||||
endif()
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user