├── .github
    └── workflows
    │   └── blank.yml
├── MinBoundingBox.cpp
├── MinBoundingBox.h
├── main.cpp
├── mainwindow.cpp
├── mainwindow.h
├── mainwindow.ui
├── myqopenglwidget.cpp
├── myqopenglwidget.h
├── openglwidget.pro
└── openglwidget.pro.user


/.github/workflows/blank.yml:
--------------------------------------------------------------------------------
 1 | name: CI
 2 | 
 3 | on: []
 4 | 
 5 | jobs:
 6 |   build:
 7 | 
 8 |     runs-on: ubuntu-latest
 9 | 
10 |     steps:
11 |     - uses: actions/checkout@v1
12 |     - name: Run a one-line script
13 |       run: echo Hello, world!
14 |     - name: Run a multi-line script
15 |       run: |
16 |         echo Add other actions to build,
17 |         echo test, and deploy your project.
18 | 


--------------------------------------------------------------------------------
/MinBoundingBox.cpp:
--------------------------------------------------------------------------------
 1 | 
 2 | #include "MinBoundingBox.h"
 3 | 
 4 | MinBoundingBox::MinBoundingBox(void):
 5 | 	m_finvalidDis(90000.0f)
 6 | {
 7 | 	zerolize();
 8 | }
 9 | 
10 | MinBoundingBox::~MinBoundingBox(void)
11 | {
12 | }
13 | 
14 | bool MinBoundingBox::calculateMinBoundingBox(const std::vector<QVector3D>& cloud)
15 | {
16 | 	zerolize();
17 |     int size =(int) cloud.size();
18 | 	if (size == 0)
19 | 	{
20 | 		return false;
21 | 	}
22 | 	else if (size ==1)
23 | 	{
24 |         firstPoint(cloud[0]);
25 | 		return false;
26 | 	}
27 | 	else
28 | 	{
29 | 		bool bfirst = false;		
30 | 		for (int i = 0; i < size; i++)
31 | 		{
32 | 			if (!bfirst)
33 | 			{
34 |                 if (isValid(cloud[i]))
35 | 				{
36 |                     firstPoint(cloud[i]);
37 | 					bfirst = true;
38 | 				}
39 | 			}
40 | 			else
41 | 			{
42 |                 nextPoint(cloud[i]);
43 | 			}			
44 | 		}
45 |         m_center = QVector3D(midX(), midY(), midZ());
46 | 	}
47 |     return true;
48 | }
49 | 
50 | void MinBoundingBox::setMinMax(QVector3D point, QVector3D &min, QVector3D &max)
51 | {
52 |     min.setX(std::min(point.x(),min.x()));
53 |     min.setY(std::min(point.y(),min.y()));
54 |     min.setZ(std::min(point.z(),min.z()));
55 | 
56 |     max.setX(std::max(point.x(),max.x()));
57 |     max.setY(std::max(point.y(),max.y()));
58 |     max.setZ(std::max(point.z(),max.z()));
59 | }
60 | 
61 | MinBoundingBox& MinBoundingBox::operator = (MinBoundingBox &box)
62 | {
63 | 	this->m_min = box.m_min;
64 | 	this->m_max = box.m_max;
65 | 	this->m_mean = box.m_mean;
66 | 	this->m_center = box.m_center;
67 | 	this->index = box.index;
68 | 	return *this;
69 | }
70 | void MinBoundingBox::nextPoint(QVector3D p)
71 | {
72 | 	if (!isValid(p))
73 | 	{
74 | 		return;
75 | 	}
76 |     setMinMax(p, m_min, m_max);  
77 | 	index++;
78 | }
79 | 
80 | bool MinBoundingBox::isContain(QVector3D point)
81 | {
82 |     return (	point.x() <= m_max.x() && point.x() >= m_min.x()
83 |             &&	point.y() <= m_max.y() && point.y() >= m_min.y()
84 |             &&	point.z() <= m_max.z() && point.z() >= m_min.z());
85 | }
86 | 
87 | bool MinBoundingBox::isValid(QVector3D point)
88 | {
89 |     if (abs(point.z())>m_finvalidDis || abs(point.y())>m_finvalidDis || abs(point.x())>m_finvalidDis)
90 | 	{
91 | 		return false;
92 | 	}
93 | 	return true;
94 | }
95 | 
96 | 


--------------------------------------------------------------------------------
/MinBoundingBox.h:
--------------------------------------------------------------------------------
 1 | #pragma once
 2 | #include <vector>
 3 | #include <math.h>
 4 | #include <QVector3D>
 5 | 
 6 | class MinBoundingBox
 7 | {
 8 | public:
 9 | 	MinBoundingBox(void);
10 | 	~MinBoundingBox(void);
11 | 	
12 | public:
13 | 	
14 |     bool calculateMinBoundingBox(const std::vector<QVector3D>& cloud);
15 | 
16 |     inline QVector3D getMinPoint() { return m_min; }
17 |     inline QVector3D getMaxPoint() { return m_max; }
18 |     inline QVector3D getMeanPoint() { return m_mean; }
19 |     inline QVector3D getCenterPoint() { return m_center; }
20 | 	
21 |     inline void firstPoint(QVector3D p) { m_min = m_max = m_mean= p; }
22 |     inline float width(void) const { return m_max.x() - m_min.x(); }
23 |     inline float height(void) const { return m_max.y() - m_min.y(); }
24 |     inline float depth(void) const { return m_max.z() - m_min.z(); }
25 |     float midX(void) const { return (m_min.x() + m_max.x()) / 2; }
26 |     float midY(void) const { return (m_min.y() + m_max.y()) / 2; }
27 |     float midZ(void) const { return (m_min.z() + m_max.z()) / 2; }
28 |     inline void zerolize(void) {
29 |         m_min = m_max = m_center = m_mean = QVector3D(0.0, 0.0, 0.0);
30 |         index = 1;
31 |     }
32 |     inline void setMin(QVector3D point) { m_min = point; }
33 |     inline void setMax(QVector3D point) { m_max = point; }
34 | 	
35 | 	inline bool Iszerolized() {
36 |         return	(abs(m_min.x()) < 0.00001 && abs(m_min.y()) < 0.00001 && abs(m_min.z()) < 0.00001 &&
37 |                  abs(m_max.x()) < 0.00001 && abs(m_max.y()) < 0.00001 && abs(m_max.z()) < 0.00001);
38 | 	}
39 | 
40 | 	inline void setMinMax(float x, float &min, float &max)
41 | 	{
42 | 		if (x > max) max = x;
43 | 		if (x < min) min = x;
44 | 	}
45 |     void setMinMax(QVector3D point, QVector3D &min, QVector3D &max);
46 |     void nextPoint(QVector3D p);
47 | 
48 | 	MinBoundingBox& operator = (MinBoundingBox &box);
49 | private:
50 | 	int index;
51 | 	const float m_finvalidDis;
52 |     QVector3D m_min;
53 |     QVector3D m_max;
54 |     QVector3D m_center;
55 |     QVector3D m_mean;
56 | 
57 |     bool isContain(QVector3D point);
58 |     bool isValid(QVector3D point);
59 | };
60 | //end min bounding box
61 | 
62 | 


--------------------------------------------------------------------------------
/main.cpp:
--------------------------------------------------------------------------------
 1 | #include "mainwindow.h"
 2 | #include <QApplication>
 3 | 
 4 | #include <QSurfaceFormat>
 5 | int main(int argc, char *argv[])
 6 | {
 7 |     QApplication a(argc, argv);
 8 |     //QSurfaceFormat format;
 9 |    // format.setDepthBufferSize(24);
10 |     //QSurfaceFormat::setDefaultFormat(format);
11 |     MainWindow w;
12 |     w.show();
13 | 
14 |     return a.exec();
15 | }
16 | 


--------------------------------------------------------------------------------
/mainwindow.cpp:
--------------------------------------------------------------------------------
  1 | #include "mainwindow.h"
  2 | #include "ui_mainwindow.h"
  3 | #include <qfiledialog.h>
  4 | #include <QTime>
  5 | #include <QtCore/qrandom.h>
  6 | #include <iostream>
  7 | MainWindow::MainWindow(QWidget *parent) :
  8 |     QMainWindow(parent),
  9 |     ui(new Ui::MainWindow)
 10 | {
 11 |     ui->setupUi(this);
 12 |     m_pOpenglWidget = new MyQOpenglWidget(ui->openGLWidget);
 13 |     m_pOpenglWidget->resize(ui->openGLWidget->width(),ui->openGLWidget->height());
 14 | }
 15 | 
 16 | MainWindow::~MainWindow()
 17 | {
 18 |     delete ui;
 19 | }
 20 | 
 21 | void MainWindow::on_pushButton_openfile_clicked()
 22 | {
 23 | //    QString qfile = QFileDialog::getOpenFileName(this,
 24 | //            tr("Open PointCloud"), ".",
 25 | //            tr("ASC files(*.asc)"));
 26 | 
 27 |     std::vector<QVector3D> cloud ;
 28 |     QString qfile = "E:\\test\\test.asc";
 29 |     cloud= ReadVec3PointCloudASC(qfile);
 30 |     //unitMillimeter2UnitMeter(cloud);
 31 |     //saveVec3PointCloudASC("e:\\cloud.asc",cloud);
 32 |     //cloud = testData(180*10000);
 33 |     QTime startTime = QTime::currentTime();
 34 |     m_pOpenglWidget->showPointCloud(cloud);
 35 |     qDebug() << "showPointCloud =" << startTime.msecsTo(QTime::currentTime()) << "ms";
 36 | }
 37 | 
 38 | std::vector<QVector3D> MainWindow::ReadVec3PointCloudASC(QString path)
 39 | {
 40 |     std::vector<QVector3D> cloud;
 41 |     QFile file(path);
 42 |     if (!file.open(QFile::ReadOnly | QIODevice::Text))
 43 |     {
 44 |         qDebug() << "There is no asc file" ;
 45 |         return cloud;
 46 |     }
 47 |     QTextStream in(&file);
 48 |     QString ramData = in.readAll();
 49 |     QStringList list = ramData.split("\n");
 50 |     QStringList listline;
 51 |     cloud.resize(list.count()-1);
 52 |     for (int i = 0; i < list.count() - 1; i++)
 53 |     {
 54 |         listline = list.at(i).split(" ");
 55 |         if(listline.size()>=3)
 56 |         {
 57 |             cloud[i].setX((listline.at(0).toFloat()));
 58 |             cloud[i].setY((listline.at(1).toFloat()));
 59 |             cloud[i].setZ((listline.at(2).toFloat()));
 60 |         }
 61 |     }
 62 |     return cloud;
 63 | }
 64 | 
 65 | void MainWindow::saveVec3PointCloudASC(QString path, const std::vector<QVector3D>& cloud)
 66 | {
 67 |     QFile file(path);
 68 |     if (!file.open(QFile::WriteOnly | QIODevice::Text))
 69 |     {
 70 |         qDebug() << "There is no asc file" ;
 71 |         return ;
 72 |     }
 73 |     QTextStream out(&file);
 74 |     for(int i = 0 ;i<(int)cloud.size();i++)
 75 |     {
 76 |         //unit Millimeter 2 Unit Meter
 77 |         out<<cloud[i].x()<<" "<<cloud[i].y()<<" "<<cloud[i].z()<<endl;
 78 |     }
 79 | }
 80 | 
 81 | void MainWindow::unitMillimeter2UnitMeter( std::vector<QVector3D> &inOutCloud)
 82 | {
 83 |     for(int i = 0;i<(int)inOutCloud.size();i++)
 84 |     {
 85 |         inOutCloud[i] /= 1000;
 86 |     }
 87 | }
 88 | 
 89 | std::vector<QVector3D> MainWindow::testData(int pointsNum)
 90 | {
 91 |     std::vector<QVector3D> cloud;
 92 |     for (int i = 0; i < pointsNum; i++)
 93 |     {
 94 |         cloud.push_back(randomVec3f());
 95 |     }
 96 |     return cloud;
 97 | }
 98 | 
 99 | QVector3D MainWindow::randomVec3f()
100 | {
101 |     return QVector3D((float)(QRandomGenerator::global()->bounded(100)) / 2.0f -
102 |             (float)(QRandomGenerator::global()->bounded(100)) / 2.0f,
103 |             (float)(QRandomGenerator::global()->bounded(100)) / 2.0f -
104 |             (float)(QRandomGenerator::global()->bounded(100)) / 2.0f,
105 |             (float)(QRandomGenerator::global()->bounded(100)) / 10.0f -
106 |             (float)(QRandomGenerator::global()->bounded(100)) / 10.0f);
107 | }
108 | 


--------------------------------------------------------------------------------
/mainwindow.h:
--------------------------------------------------------------------------------
 1 | #ifndef MAINWINDOW_H
 2 | #define MAINWINDOW_H
 3 | 
 4 | #include <QMainWindow>
 5 | #include "myqopenglwidget.h"
 6 | namespace Ui {
 7 | class MainWindow;
 8 | }
 9 | 
10 | class MainWindow : public QMainWindow
11 | {
12 |     Q_OBJECT
13 | 
14 | public:
15 |     explicit MainWindow(QWidget *parent = 0);
16 |     ~MainWindow();
17 | 
18 | private slots:
19 |     void on_pushButton_openfile_clicked();
20 | 
21 | private:
22 |     Ui::MainWindow *ui;
23 |     MyQOpenglWidget* m_pOpenglWidget;
24 | 
25 |     std::vector<QVector3D> ReadVec3PointCloudASC(QString path);
26 |     void saveVec3PointCloudASC(QString path,const std::vector<QVector3D>& cloud);
27 |     void unitMillimeter2UnitMeter(std::vector<QVector3D> &inOutCloud);
28 |     std::vector<QVector3D> testData(int pointsNum);
29 |     QVector3D randomVec3f();
30 | };
31 | 
32 | #endif // MAINWINDOW_H
33 | 


--------------------------------------------------------------------------------
/mainwindow.ui:
--------------------------------------------------------------------------------
  1 | <?xml version="1.0" encoding="UTF-8"?>
  2 | <ui version="4.0">
  3 |  <class>MainWindow</class>
  4 |  <widget class="QMainWindow" name="MainWindow">
  5 |   <property name="geometry">
  6 |    <rect>
  7 |     <x>0</x>
  8 |     <y>0</y>
  9 |     <width>874</width>
 10 |     <height>546</height>
 11 |    </rect>
 12 |   </property>
 13 |   <property name="windowTitle">
 14 |    <string>MainWindow</string>
 15 |   </property>
 16 |   <widget class="QWidget" name="centralWidget">
 17 |    <widget class="QPushButton" name="pushButton_openfile">
 18 |     <property name="geometry">
 19 |      <rect>
 20 |       <x>730</x>
 21 |       <y>100</y>
 22 |       <width>80</width>
 23 |       <height>20</height>
 24 |      </rect>
 25 |     </property>
 26 |     <property name="text">
 27 |      <string>打开文件</string>
 28 |     </property>
 29 |    </widget>
 30 |    <widget class="QLineEdit" name="lineEdit">
 31 |     <property name="geometry">
 32 |      <rect>
 33 |       <x>720</x>
 34 |       <y>140</y>
 35 |       <width>113</width>
 36 |       <height>20</height>
 37 |      </rect>
 38 |     </property>
 39 |    </widget>
 40 |    <widget class="QLineEdit" name="lineEdit_2">
 41 |     <property name="geometry">
 42 |      <rect>
 43 |       <x>720</x>
 44 |       <y>180</y>
 45 |       <width>113</width>
 46 |       <height>20</height>
 47 |      </rect>
 48 |     </property>
 49 |    </widget>
 50 |    <widget class="QTabWidget" name="tabWidget">
 51 |     <property name="geometry">
 52 |      <rect>
 53 |       <x>20</x>
 54 |       <y>10</y>
 55 |       <width>691</width>
 56 |       <height>471</height>
 57 |      </rect>
 58 |     </property>
 59 |     <property name="currentIndex">
 60 |      <number>0</number>
 61 |     </property>
 62 |     <widget class="QWidget" name="tab">
 63 |      <attribute name="title">
 64 |       <string>Tab 1</string>
 65 |      </attribute>
 66 |     </widget>
 67 |     <widget class="QWidget" name="tab_2">
 68 |      <attribute name="title">
 69 |       <string>Tab 2</string>
 70 |      </attribute>
 71 |      <widget class="QOpenGLWidget" name="openGLWidget">
 72 |       <property name="geometry">
 73 |        <rect>
 74 |         <x>30</x>
 75 |         <y>20</y>
 76 |         <width>631</width>
 77 |         <height>391</height>
 78 |        </rect>
 79 |       </property>
 80 |      </widget>
 81 |     </widget>
 82 |    </widget>
 83 |   </widget>
 84 |   <widget class="QMenuBar" name="menuBar">
 85 |    <property name="geometry">
 86 |     <rect>
 87 |      <x>0</x>
 88 |      <y>0</y>
 89 |      <width>874</width>
 90 |      <height>22</height>
 91 |     </rect>
 92 |    </property>
 93 |   </widget>
 94 |   <widget class="QToolBar" name="mainToolBar">
 95 |    <attribute name="toolBarArea">
 96 |     <enum>TopToolBarArea</enum>
 97 |    </attribute>
 98 |    <attribute name="toolBarBreak">
 99 |     <bool>false</bool>
100 |    </attribute>
101 |   </widget>
102 |   <widget class="QStatusBar" name="statusBar"/>
103 |  </widget>
104 |  <layoutdefault spacing="6" margin="11"/>
105 |  <resources/>
106 |  <connections/>
107 | </ui>
108 | 


--------------------------------------------------------------------------------
/myqopenglwidget.cpp:
--------------------------------------------------------------------------------
  1 | #include "myqopenglwidget.h"
  2 | #include <QDebug>
  3 | #include <QtMath>
  4 | 
  5 | static const char *vertexShaderSource =
  6 |     "attribute highp vec3 posAttr;\n"
  7 |     "attribute lowp vec4 colAttr;\n"
  8 |     "varying lowp vec4 col;\n"
  9 |     "uniform highp mat4 matrix;\n"
 10 |     "void main() {\n"
 11 |     "  col=colAttr;\n"
 12 |     "  gl_Position=matrix * vec4(posAttr,1.0f);\n"
 13 |     "}\n";
 14 | 
 15 | static const char *fragmentShaderSource =   
 16 |     "varying lowp vec4 col;\n"
 17 |     "void main() {\n"
 18 |     "   gl_FragColor = col;\n"
 19 |     "}\n";
 20 | 
 21 | MyQOpenglWidget::MyQOpenglWidget(QWidget *parent)
 22 |     : QOpenGLWidget(parent)
 23 |     ,m_context(nullptr)
 24 |     ,m_Program(nullptr)
 25 |     //,m_VertexShader(nullptr)
 26 |     //,m_FragmentShader(nullptr)
 27 |     ,m_posAttr(0)    
 28 |     ,m_colAttr(0)
 29 |     ,m_norAttr(0)
 30 |     ,m_matrixUniform(0)
 31 |     ,m_VBO(0)
 32 |     ,m_VAO(nullptr)
 33 |     ,m_scale(1.0f)
 34 |     ,m_bShowAxis(false)
 35 | {
 36 |     m_Timer = new QTimer;
 37 |     m_context.reset(new QOpenGLContext());
 38 |     m_Program.reset( new QOpenGLShaderProgram(this));
 39 |     m_VertexShader.reset(new QOpenGLShader(QOpenGLShader::Vertex));
 40 |     m_FragmentShader.reset( new QOpenGLShader(QOpenGLShader::Fragment));
 41 |      m_VAO.reset(new QOpenGLVertexArrayObject());
 42 | 
 43 |     m_PointsVertex = QVector<VertexInfo>();
 44 |     ResetView();
 45 |     for (GLuint i = 0; i < 6; ++i) {
 46 |         m_Axisindices[i] = i;
 47 |     }
 48 |     //this->grabKeyboard();
 49 | }
 50 | 
 51 | MyQOpenglWidget::~MyQOpenglWidget()
 52 | {
 53 | 
 54 | }
 55 | 
 56 | void MyQOpenglWidget::initializeGL()
 57 | {
 58 |     makeCurrent();
 59 |     bool binit = true;
 60 |     binit &= InitShader();
 61 |     if (!binit)
 62 |     {
 63 |         return;
 64 |     }
 65 |     //OpenGLCore = new QOpenGLFunctions_4_3_Core();
 66 |     initializeOpenGLFunctions();
 67 |     glEnable(GL_DEPTH_TEST);
 68 | 
 69 |     m_VAO->create();
 70 |     glGenBuffers(1, &m_VBO);
 71 |     glGenBuffers(1, &m_EBO);
 72 | 
 73 |     //init need import a point data
 74 |     initCloud();
 75 |     changePointCloud();
 76 | 
 77 |     QObject::connect(m_Timer, SIGNAL(timeout()), this, SLOT(onTimerOut()));
 78 |     m_Timer->start(30);
 79 | }
 80 | 
 81 | void MyQOpenglWidget::showPointCloud(const std::vector<QVector3D> &cloud)
 82 | {
 83 |     QTime startTime = QTime::currentTime();
 84 |     initPointCloud(cloud);
 85 |     debugMsg("initPointCloud =",startTime);
 86 | 
 87 |     startTime = QTime::currentTime();
 88 |     changePointCloud();
 89 |     debugMsg("changePointCloud =",startTime);
 90 |     ResetView();
 91 |     repaint();
 92 | }
 93 | 
 94 | void MyQOpenglWidget::initPointCloud(const std::vector<QVector3D> &cloud)
 95 | {
 96 |     m_PointsVertex.clear();
 97 |     m_PointsVertex.resize((int)cloud.size()+6);
 98 |     m_box.calculateMinBoundingBox(cloud);
 99 | 
100 |     addAxisData();
101 | 
102 |     for(int i = 0;i<cloud.size();i++)
103 |     {
104 |         //move cloud center to origin
105 |         m_PointsVertex[i+6].pos[0] =(cloud[i].x() - m_box.getCenterPoint().x()) ;
106 |         m_PointsVertex[i+6].pos[1] =(cloud[i].y() - m_box.getCenterPoint().y()) ;
107 |         m_PointsVertex[i+6].pos[2] =(cloud[i].z() - m_box.getCenterPoint().z()) ;
108 |         gray2Pseudocolor(cloud[i], m_PointsVertex[i+6].color);
109 |         m_PointsVertex[i+6].normal[0] = 0.0f;
110 |         m_PointsVertex[i+6].normal[1] = 1.0f;
111 |         m_PointsVertex[i+6].normal[2] = 0.0f;
112 |     }
113 | }
114 | 
115 | void MyQOpenglWidget::addAxisData()
116 | {
117 |     float axisLength = std::min(std::min(m_box.width(),m_box .height()),m_box.depth());
118 |     if (m_PointsVertex.size()>6){
119 |         for(int i =0 ; i<3;i++)
120 |         {
121 |             m_PointsVertex[2*i] = VertexInfo();
122 |             float color[4] = {0.0,0.0,0.0,1.0};
123 |             color[i] = 1.0;
124 |             for (int j = 0;j<4;j++) {
125 |                 m_PointsVertex[2*i].color[j] = color[j];
126 |                 m_PointsVertex[2*i+1].color[j] = color[j];
127 |             }
128 |             float pos[3] = {0.0,0.0,0.0};
129 |             pos[i] = axisLength;
130 |             for (int j = 0;j<3;j++) {
131 |                 m_PointsVertex[2*i+1].pos[j] = pos[j];
132 |             }
133 |         }
134 |     }
135 | }
136 | 
137 | void MyQOpenglWidget::gray2Pseudocolor(const QVector3D pos,float color[4])
138 | {
139 |     float fmin = m_box.getMinPoint().z();
140 |     float fmax = m_box.getMaxPoint().z();
141 |     //int colortemp = (int)(((pos[2] - fmin) / (fmax - fmin)) * 255);
142 |     int colortemp = (int)(((fmax- pos.z() ) / (fmax - fmin)) * 255);
143 |     int r, g, b;
144 | 	if (colortemp >= 0 && colortemp < 64)
145 | 	{
146 | 		r = 0;
147 | 		g = 254 - 4 * colortemp;
148 | 		b = 255;
149 | 	}else if (colortemp >= 64 && colortemp < 128){
150 | 		r = 0;
151 | 		g = 4 * colortemp - 254;
152 | 		b = 510 - 4 * colortemp;
153 |     }else if (colortemp >= 128 && colortemp < 192){
154 | 		r = 4 * colortemp - 510;
155 | 		g = 255;
156 | 		b = 0;
157 | 	}
158 | 	else if (colortemp >= 192 && colortemp <= 255)
159 | 	{
160 | 		r = 255;
161 | 		g = 1022 - 4 * colortemp;
162 | 		b = 0;
163 |     }else{
164 |         r = 255;
165 |         g = 255;
166 |         b = 255;
167 |     }
168 | 	color[0] = r*1.0f / 255;
169 | 	color[1] = g*1.0f / 255;
170 | 	color[2] = b*1.0f / 255;
171 | 	color[3] = 1.0f;
172 | }
173 | 
174 | void MyQOpenglWidget::changePointCloud()
175 | {
176 |     if(m_PointsVertex.size()<=0)
177 |     {
178 |         return ;
179 |     }
180 |     m_VAO->bind();
181 |     glBindBuffer(GL_ARRAY_BUFFER, m_VBO);
182 |     glBufferData(GL_ARRAY_BUFFER, sizeof(VertexInfo)*(int)m_PointsVertex.size(), m_PointsVertex.data(), GL_DYNAMIC_DRAW);
183 | 
184 |     glBindBuffer(GL_ELEMENT_ARRAY_BUFFER,m_EBO);
185 |     glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(m_Axisindices), m_Axisindices, GL_DYNAMIC_DRAW);
186 | 
187 |     glEnableVertexAttribArray(m_posAttr);
188 |     glVertexAttribPointer(m_posAttr, 3, GL_FLOAT, GL_FALSE, sizeof(VertexInfo), (void*)(offsetof(VertexInfo, pos)));
189 |     glEnableVertexAttribArray(m_colAttr);
190 |     glVertexAttribPointer(m_colAttr, 4, GL_FLOAT, GL_FALSE, sizeof(VertexInfo), (void*)(offsetof(VertexInfo,color)));
191 | 
192 |     glBindBuffer(GL_ARRAY_BUFFER, 0);
193 |     m_VAO->release();
194 | }
195 | 
196 | void MyQOpenglWidget::ResetView()
197 | {
198 |     m_lineMove = QVector3D();
199 |     m_rotate = QQuaternion(); 
200 |     m_rotate *= QQuaternion::fromAxisAndAngle(QVector3D(0,0,1),180);
201 | 	m_rotationAxis = QVector3D();
202 |     m_scale = 1.0f;
203 |     setBackgroundColor(QVector3D(0.2f,0.3f,0.3f));
204 | }
205 | 
206 | void MyQOpenglWidget::setBackgroundColor(QVector3D color)
207 | {
208 |     m_backgroundColor= QVector4D(color,1.0f);
209 | }
210 | 
211 | void MyQOpenglWidget::debugMsg(QString msg, QTime start)
212 | {
213 |     qDebug() << msg << start.msecsTo(QTime::currentTime()) << "ms";
214 | }
215 | 
216 | void MyQOpenglWidget::resizeGL(int w, int h)
217 | {
218 |     const qreal retinaScale = devicePixelRatio();
219 |     glViewport(0, 0, w * retinaScale, h * retinaScale);
220 |     repaint();
221 | }
222 | 
223 | 
224 | bool MyQOpenglWidget::InitShader()
225 | {
226 |     bool success = true;
227 |     success &= m_Program->addShaderFromSourceCode(QOpenGLShader::Vertex, vertexShaderSource);
228 |     success &= m_Program->addShaderFromSourceCode(QOpenGLShader::Fragment, fragmentShaderSource);
229 |     success &= m_Program->link();
230 |     GetShaderUniformPara();
231 |     return success;
232 | }
233 | 
234 | void MyQOpenglWidget::GetShaderUniformPara()
235 | {
236 |     m_posAttr = m_Program->attributeLocation("posAttr");
237 |     m_colAttr = m_Program->attributeLocation("colAttr");  
238 |     m_matrixUniform = m_Program->uniformLocation("matrix");
239 |     //m_norAttr = m_Program->attributeLocation("norAttr");
240 | }
241 | 
242 | void MyQOpenglWidget::paintGL()
243 | {
244 |     makeCurrent();
245 |     m_Program->bind();
246 |     glClearColor(m_backgroundColor.x(), m_backgroundColor.y(), m_backgroundColor.z(), m_backgroundColor.w());
247 |     glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BITS);
248 | 
249 |     m_VAO->bind();
250 |     setMatrixUniform();
251 |     glDrawArrays(GL_POINTS, 6,(GLsizei ) m_PointsVertex.size()-6);
252 |     if(m_bShowAxis){
253 |         glDrawElements(GL_LINES,6,GL_UNSIGNED_INT,0);
254 |     }
255 |     //glPointSize(2.0f);
256 |     m_VAO->release();    
257 |     m_Program->release();
258 | }
259 | 
260 | void MyQOpenglWidget::setMatrixUniform()
261 | {
262 |     QMatrix4x4 matrix = QMatrix4x4();
263 |     QMatrix4x4 matrixPerspect= QMatrix4x4();
264 |     QMatrix4x4 matrixView= QMatrix4x4();
265 |     QMatrix4x4 matrixModel= QMatrix4x4();
266 | 
267 |     QVector3D  minPos = (m_box.getMinPoint()- m_box.getCenterPoint());
268 |     QVector3D  maxPos = (m_box.getMaxPoint()- m_box.getCenterPoint());
269 |     float maxAxis;
270 |     maxAxis =qAbs(qMax(qMax(m_box.depth(),m_box.width()),m_box.height())) ;
271 | 
272 |     //matrixPerspect.perspective(45.0f, m_width *1.0f/m_height, 0.1f, 2*maxAxis);
273 |     matrixPerspect.ortho( 2*minPos[0],2*maxPos[0],2*minPos[1],2*maxPos[1],-2*maxAxis,2*maxAxis);
274 | 
275 |     matrixView.lookAt(QVector3D(0, 0, maxAxis),QVector3D(0.0,0.0,-1),QVector3D(0.0,1.0,0.0));
276 |     matrixView.translate(m_lineMove.x(),m_lineMove.y(),m_lineMove.z());
277 | 
278 | 	matrixModel.rotate(m_rotate);
279 |     matrixModel.scale(m_scale);
280 | 
281 |     matrix = matrixPerspect*matrixView*matrixModel;
282 |     m_Program->setUniformValue(m_matrixUniform, matrix);    
283 | }
284 | 
285 | void MyQOpenglWidget::initCloud()
286 | {
287 |     m_PointsVertex.clear();
288 |     VertexInfo point;
289 |     point.pos[0] =0.0f ;
290 |     point.pos[1] =0.0f ;
291 |     point.pos[2] =0.0f ;
292 |     point.color[0] = m_backgroundColor.x();
293 |     point.color[1] = m_backgroundColor.y();
294 |     point.color[2] = m_backgroundColor.z();
295 |     point.color[3] = m_backgroundColor.w();
296 |     point.normal[0] = 0.0f;
297 |     point.normal[1] = 1.0f;
298 |     point.normal[2] = 0.0f;
299 |     m_PointsVertex.push_back(point);
300 | }
301 | 
302 | void MyQOpenglWidget::onTimerOut()
303 | {
304 |     if(this->isVisible())
305 |     {
306 |         repaint();
307 |     }
308 | }
309 | 
310 | void MyQOpenglWidget::mousePressEvent(QMouseEvent *e)
311 | {
312 | 	if (e->buttons()&Qt::LeftButton || e->buttons()&Qt::MidButton)
313 | 	{
314 | 		setMouseTracking(true);
315 | 		m_lastPoint = QVector2D(e->localPos());
316 | 	}   
317 | }
318 | 
319 | void MyQOpenglWidget::mouseMoveEvent(QMouseEvent *e)
320 | {	
321 |     if (e->buttons()&Qt::LeftButton)
322 |     {
323 |         Rotate(QVector2D(m_lastPoint), QVector2D(e->localPos()));
324 |     }
325 |     if (e->buttons()&Qt::MidButton)
326 |     {
327 |         LineMove(m_lastPoint, QVector2D(e->localPos()));
328 |     }
329 |     m_lastPoint = QVector2D(e->localPos());
330 | }
331 | 
332 | void MyQOpenglWidget::mouseReleaseEvent(QMouseEvent *e)
333 | {
334 |     setMouseTracking(false);
335 | }
336 | 
337 | void MyQOpenglWidget::wheelEvent(QWheelEvent *e)
338 | {   
339 |     if(e->delta() > 0){
340 |         modelZoomInOrOut(true);
341 |     }else{
342 |         modelZoomInOrOut(false);
343 |     }
344 | }
345 | 
346 | void MyQOpenglWidget::keyPressEvent(QKeyEvent *e)
347 | {
348 |     if (e->key() == Qt::Key_R)
349 |     {
350 |         ResetView();
351 |         //return;
352 |     }else if ((e->key()== Qt::Key_C) && (e->modifiers() == Qt::ControlModifier)){
353 |         m_bShowAxis = !m_bShowAxis;
354 |     }
355 |     QWidget::keyPressEvent(e);
356 | }
357 | 
358 | void MyQOpenglWidget::leaveEvent(QEvent *)
359 | {
360 |     //不释放键盘事件抓取，会让编辑框无法输入
361 |     releaseKeyboard();
362 | }
363 | 
364 | void MyQOpenglWidget::enterEvent(QEvent *)
365 | {
366 |     grabKeyboard();
367 | }
368 | 
369 | GLuint MyQOpenglWidget::createGPUProgram(QString nVertexShaderFile, QString nFragmentShaderFile)
370 | {
371 |     bool isOK = m_VertexShader->compileSourceFile(nVertexShaderFile);
372 |     if (!isOK)
373 |     {
374 |         qDebug() << "compile vertex shader fail" ;
375 |         return 0;
376 |     } 
377 |     if (!m_FragmentShader->compileSourceFile(nFragmentShaderFile))
378 |     {
379 |         qDebug() << "compile fragment shader fail";
380 |         return 0;
381 |     }
382 |     m_Program->addShader(m_VertexShader.get());
383 |     m_Program->addShader(m_FragmentShader.get());
384 |     m_Program->link();
385 |     GetShaderUniformPara();
386 |     return m_Program->programId();
387 | }
388 | 
389 | void MyQOpenglWidget::LineMove(QVector2D posOrgin, QVector2D posEnd)
390 | {
391 |     float ratio =0.003f*sqrt(m_box.width()*m_box.height()) ;
392 |     float xoffset = posEnd.x() - posOrgin.x();
393 |     float yoffset = posEnd.y() - posOrgin.y();
394 | 
395 |     m_lineMove.setX(m_lineMove.x()+xoffset*ratio);
396 |     m_lineMove.setY(m_lineMove.y()-yoffset*ratio);
397 | }
398 | 
399 | void MyQOpenglWidget::Rotate(QVector2D posOrgin, QVector2D posEnd)
400 | {
401 | 	QVector2D diff = posEnd - posOrgin;
402 | 	qreal acc = diff.length() / 100.0;
403 | 	if (acc<0.01f)
404 | 	{
405 | 		return;
406 | 	}
407 |     calRotation(posOrgin,posEnd);
408 | }
409 | 
410 | void MyQOpenglWidget::modelZoomInOrOut(bool ZoomInOrOut)
411 | {
412 |     if(ZoomInOrOut)//zoom in
413 |     {
414 |         m_scale*=1.1f;
415 | //        if(m_scale>2.0f)
416 | //            m_scale = 2.0f;
417 |     }else{                  //zoom out
418 |         m_scale*=0.9f;
419 |         if(m_scale<0.5f)
420 |             m_scale = 0.5f;
421 |     }
422 | }
423 | 
424 | void MyQOpenglWidget::calRotation(QVector2D posOrgin, QVector2D posEnd)
425 | {
426 |     QVector3D orginViewPos = pixelPosToViewPos(posOrgin);
427 |     QVector3D endViewPos = pixelPosToViewPos(posEnd);
428 |     float RotateAngle;
429 |     RotateAngle = qRadiansToDegrees(std::acos(QVector3D::dotProduct(orginViewPos,endViewPos)));
430 |     QVector3D axis;
431 |     axis=QVector3D::crossProduct(orginViewPos, endViewPos);
432 |     axis.normalize();
433 |     m_rotate=  QQuaternion::fromAxisAndAngle(axis, RotateAngle)*m_rotate;
434 | }
435 | 
436 | QVector3D MyQOpenglWidget::pixelPosToViewPos(const QVector2D &p)
437 | {
438 |     QVector3D viewPos(2.0 * float(p.x()) / width() - 1.0,
439 |                       1.0 - 2.0 * float(p.y()) / height(),
440 |                       0);
441 |     float sqrZ = 1 - QVector3D::dotProduct(viewPos, viewPos);
442 |     if(sqrZ>0)
443 |     {
444 |         viewPos.setZ(std::sqrt(sqrZ));
445 |     }else{
446 |         viewPos.normalize();
447 |     }
448 |     return viewPos;
449 | }
450 | 
451 | 
452 | 
453 | 


--------------------------------------------------------------------------------
/myqopenglwidget.h:
--------------------------------------------------------------------------------
  1 | #ifndef MYQOPENGLWIDGET_H
  2 | #define MYQOPENGLWIDGET_H
  3 | #include <QtGui/QWindow>
  4 | #include <QtGui/QOpenGLFunctions>
  5 | #include <QtWidgets/QOpenGLWidget>
  6 | #include <QOpenGLVertexArrayObject>
  7 | #include <QPainter>
  8 | #include <QOpenGLContext>
  9 | #include <QOpenGLPaintDevice>
 10 | #include <QOpenGLShaderProgram>
 11 | #include <QOpenGLShader>
 12 | #include <QTimer>
 13 | #include <QVector3D>
 14 | #include <QQuaternion>
 15 | #include <QMouseEvent>
 16 | #include <QKeyEvent>
 17 | #include <QTime>
 18 | #include <QScopedPointer>
 19 | #include "MinBoundingBox.h"
 20 | 
 21 | using namespace std;
 22 | 
 23 | QT_BEGIN_NAMESPACE
 24 | class QPainter;
 25 | class QOpenGLContext;
 26 | class QOpenGLPaintDevice;
 27 | class QOpenGLShaderProgram;
 28 | class QOpenGLShader;
 29 | QT_END_NAMESPACE
 30 | 
 31 | class MyQOpenglWidget: public QOpenGLWidget, protected QOpenGLFunctions
 32 | {
 33 |     Q_OBJECT
 34 | public:
 35 |     explicit MyQOpenglWidget(QWidget *parent = 0);
 36 |     ~MyQOpenglWidget();
 37 |     void showPointCloud(const std::vector<QVector3D>& cloud);
 38 |     virtual void resizeGL(int w, int h);
 39 |     void setBackgroundColor(QVector3D color);
 40 | 
 41 | protected:
 42 |     virtual void initializeGL(void);
 43 |     virtual void paintGL(void);
 44 | 
 45 |     struct VertexInfo
 46 |     {
 47 |         float pos[3] = {0.0,0.0,0.0};
 48 |         float normal[3] = {0.0,0.0,1.0};
 49 |         float color[4] = {1.0,1.0,1.0,1.0};
 50 |     };
 51 | private slots:
 52 |     void onTimerOut(void);
 53 |     virtual void mousePressEvent(QMouseEvent * e);
 54 |     virtual void mouseMoveEvent(QMouseEvent * e);
 55 |     virtual void mouseReleaseEvent(QMouseEvent * e);
 56 |     virtual void wheelEvent(QWheelEvent * e);
 57 |     virtual void keyPressEvent(QKeyEvent *e);
 58 |     virtual void leaveEvent(QEvent *);
 59 |     virtual void enterEvent(QEvent *);
 60 | 
 61 | private:
 62 |     QTimer *m_Timer;
 63 |     QScopedPointer<QOpenGLContext> m_context;
 64 |     QScopedPointer<QOpenGLShaderProgram> m_Program;
 65 |     QScopedPointer<QOpenGLShader> m_VertexShader;
 66 |     QScopedPointer<QOpenGLShader> m_FragmentShader;
 67 | 
 68 | 	// shader spara
 69 |     GLuint m_posAttr;                           
 70 |     GLuint m_colAttr;                          
 71 |     GLuint m_norAttr;                           
 72 |     GLuint m_matrixUniform;						
 73 | 	GLuint m_VBO;
 74 |     GLuint m_EBO;
 75 |     QScopedPointer<QOpenGLVertexArrayObject> m_VAO;
 76 |     QVector4D m_backgroundColor;
 77 | 
 78 | 	//store points
 79 | 	QVector<VertexInfo> m_PointsVertex;				
 80 |     MinBoundingBox m_box;                           
 81 |    
 82 |     QVector3D m_lineMove;
 83 |     QQuaternion m_rotate;
 84 | 	QVector3D m_rotationAxis;
 85 |     float m_scale;
 86 |     bool m_bShowAxis;
 87 |     GLuint m_Axisindices[6];
 88 | 
 89 |     QVector2D m_lastPoint;
 90 | 
 91 |     GLuint createGPUProgram(QString nVertexShaderFile, QString nFragmentShaderFile);
 92 |     void GetShaderUniformPara();
 93 |     bool InitShader();                    
 94 | 
 95 |     void LineMove(QVector2D posOrgin, QVector2D posEnd);
 96 |     void Rotate(QVector2D posOrgin, QVector2D posEnd);
 97 |     void modelZoomInOrOut(bool ZoomInOrOut);
 98 |     QVector3D pixelPosToViewPos(const QVector2D& p);
 99 |     void calRotation(QVector2D posOrgin, QVector2D posEnd);
100 |     void initPointCloud(const std::vector<QVector3D>& cloud);
101 |     void gray2Pseudocolor(const QVector3D pos, float color[4]);
102 |     void changePointCloud();
103 |     void setMatrixUniform();
104 |     void ResetView();
105 |     void initCloud();
106 |     void addAxisData();
107 | 
108 |     //debug
109 |     void debugMsg(QString msg,QTime start);
110 | 
111 | };
112 | 
113 | #endif // MYQOPENGLWIDGET_H
114 | 


--------------------------------------------------------------------------------
/openglwidget.pro:
--------------------------------------------------------------------------------
 1 | #-------------------------------------------------
 2 | #
 3 | # Project created by QtCreator 2020-01-07T10:45:46
 4 | #
 5 | #-------------------------------------------------
 6 | 
 7 | QT       += core gui
 8 | 
 9 | greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
10 | 
11 | TARGET = openglwidget
12 | TEMPLATE = app
13 | 
14 | # The following define makes your compiler emit warnings if you use
15 | # any feature of Qt which has been marked as deprecated (the exact warnings
16 | # depend on your compiler). Please consult the documentation of the
17 | # deprecated API in order to know how to port your code away from it.
18 | DEFINES += QT_DEPRECATED_WARNINGS
19 | 
20 | # You can also make your code fail to compile if you use deprecated APIs.
21 | # In order to do so, uncomment the following line.
22 | # You can also select to disable deprecated APIs only up to a certain version of Qt.
23 | #DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
24 | 
25 | 
26 | SOURCES += \
27 |         main.cpp \
28 |         mainwindow.cpp \
29 |     MinBoundingBox.cpp \
30 |     myqopenglwidget.cpp
31 | 
32 | HEADERS += \
33 |         mainwindow.h \
34 |     MinBoundingBox.h \
35 |     myqopenglwidget.h
36 | 
37 | FORMS += \
38 |         mainwindow.ui
39 | 


--------------------------------------------------------------------------------
/openglwidget.pro.user:
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278 |     <value type="double" key="Analyzer.Valgrind.Callgrind.VisualisationMinimumCostRatio">10</value>
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286 |     <value type="bool" key="Analyzer.Valgrind.ShowReachable">false</value>
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313 |     <value type="bool" key="RunConfiguration.UseCppDebugger">false</value>
314 |     <value type="bool" key="RunConfiguration.UseCppDebuggerAuto">true</value>
315 |     <value type="bool" key="RunConfiguration.UseLibrarySearchPath">true</value>
316 |     <value type="bool" key="RunConfiguration.UseMultiProcess">false</value>
317 |     <value type="bool" key="RunConfiguration.UseQmlDebugger">false</value>
318 |     <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
319 |     <value type="QString" key="RunConfiguration.WorkingDirectory"></value>
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322 |    <value type="int" key="ProjectExplorer.Target.RunConfigurationCount">1</value>
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325 |  <data>
326 |   <variable>ProjectExplorer.Project.TargetCount</variable>
327 |   <value type="int">1</value>
328 |  </data>
329 |  <data>
330 |   <variable>ProjectExplorer.Project.Updater.FileVersion</variable>
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332 |  </data>
333 |  <data>
334 |   <variable>Version</variable>
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336 |  </data>
337 | </qtcreator>
338 | 


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