效果

頭文件GrayVirsual.h

#pragma once#include <QtWidgets/QMainWindow> #include <QVTKOpenGLNativeWidget.h> #include <opencv2/core/core.hpp> #include <opencv2/highgui/highgui.hpp> #include <opencv2/imgproc/imgproc.hpp> #include <vtkImageData.h> #include <vtkImageDataGeometryFilter.h> #include <vtkWarpScalar.h> #include <vtkRenderWindow.h> #include <vtkPolyDataMapper.h> #include <vtkActor.h> #include <vtkRenderer.h>#include <pcl/point_types.h> #include <pcl/visualization/pcl_visualizer.h> #include <pcl/visualization/cloud_viewer.h> class GrayVirsual : public QMainWindow {Q_OBJECTpublic:GrayVirsual(QWidget* parent = nullptr);~GrayVirsual();private:pcl::visualization::PCLVisualizer::Ptr grayViewer;pcl::PointCloud<pcl::PointXYZRGB>::Ptr grayCloud;pcl::visualization::PCLVisualizer::Ptr hsvViewer;pcl::PointCloud<pcl::PointXYZRGB>::Ptr hsvCloud;pcl::visualization::PCLVisualizer::Ptr hViewer;pcl::PointCloud<pcl::PointXYZRGB>::Ptr hCloud;pcl::visualization::PCLVisualizer::Ptr vViewer;pcl::PointCloud<pcl::PointXYZRGB>::Ptr vCloud;QWidget* centralWidget;QVTKOpenGLNativeWidget* vtkWidget;void loadImage(const QString& fileName); };

實現GrayVirsual.cpp

#include "GrayVirsual.h" #include <QHBoxLayout> #include <QLabel> #include <QLineEdit> #include <QPushButton> #include <QMessageBox> #include <vtkInformation.h> #include <vtkAxesActor.h> #include <vtkNamedColors.h> #include <vtkProperty.h> #include <vtkRenderer.h> #include <vtkRendererCollection.h> #include <vtkGenericOpenGLRenderWindow.h> #include <vtkAxesActor.h> #include <vtkOBJReader.h> #include <pcl/io/pcd_io.h> #include <pcl/io/ply_io.h> #include <pcl/io/vtk_io.h> #include <pcl/filters/statistical_outlier_removal.h> #include <pcl/filters/passthrough.h> #include <pcl/segmentation/sac_segmentation.h> #include <pcl/filters/extract_indices.h> #include <pcl/filters/voxel_grid.h> #include <pcl/kdtree/kdtree_flann.h> #include <pcl/segmentation/extract_clusters.h> #include <pcl/search/kdtree.h> #include <pcl/features/normal_3d.h> #include <pcl/common/transforms.h> #include <pcl/surface/gp3.h> #include <pcl/surface/poisson.h> #include <pcl/surface/mls.h> #include <pcl/surface/marching_cubes_hoppe.h> #include <pcl/surface/marching_cubes_rbf.h>GrayVirsual::GrayVirsual(QWidget* parent): QMainWindow(parent) {centralWidget = new QWidget(this);vtkWidget = new QVTKOpenGLNativeWidget(this);this->resize(600, 400);this->setCentralWidget(centralWidget);// 垂直布局QVBoxLayout* vbox = new QVBoxLayout(this);//水平布局QHBoxLayout* hBoxLayout = new QHBoxLayout(this);//創建標簽QLabel* label = new QLabel(this);label->setText("路徑：");// 單行編輯框QLineEdit* pathEdit = new QLineEdit(this);//設置最大高度pathEdit->setMaximumHeight(30);// 按鈕QPushButton* pushButton = new QPushButton(this);pushButton->setText("加載");connect(pushButton, &QPushButton::clicked, [this, pathEdit = pathEdit]() {loadImage(pathEdit->text());});hBoxLayout->addWidget(label);hBoxLayout->addWidget(pathEdit);hBoxLayout->addWidget(pushButton);hBoxLayout->setSpacing(10);// 設置布局最大高度hBoxLayout->setSizeConstraint(QLayout::SetMaximumSize);//添加橫向彈簧hBoxLayout->addStretch(0);vbox->addLayout(hBoxLayout);vbox->addWidget(vtkWidget);vtkWidget->setMinimumSize({ 400,300 });centralWidget->setLayout(vbox);grayCloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>);hsvCloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>);hCloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>);vCloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>);auto renderWindow = vtkSmartPointer<vtkGenericOpenGLRenderWindow>::New();auto grayRenderer = vtkSmartPointer<vtkRenderer>::New();grayViewer = pcl::visualization::PCLVisualizer::Ptr(new pcl::visualization::PCLVisualizer(grayRenderer, renderWindow, "", false));grayViewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "grayCloud");grayViewer->addPointCloud(grayCloud, "grayCloud");grayRenderer->SetViewport(0, 0, .5, .5);auto hsvRenderer = vtkSmartPointer<vtkRenderer>::New();hsvViewer = pcl::visualization::PCLVisualizer::Ptr(new pcl::visualization::PCLVisualizer(hsvRenderer, renderWindow, "", false));hsvViewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "hsvCloud");hsvViewer->addPointCloud(hsvCloud, "hsvCloud");hsvRenderer->SetViewport(.5, 0, 1, .5);auto hViewerRenderer = vtkSmartPointer<vtkRenderer>::New();hViewer = pcl::visualization::PCLVisualizer::Ptr(new pcl::visualization::PCLVisualizer(hViewerRenderer, renderWindow, "", false));hViewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "hViewer");hViewer->addPointCloud(hCloud, "hCloud");hViewerRenderer->SetViewport(0, .5, .5, 1);auto vViewerRenderer = vtkSmartPointer<vtkRenderer>::New();vViewer = pcl::visualization::PCLVisualizer::Ptr(new pcl::visualization::PCLVisualizer(vViewerRenderer, renderWindow, "", false));vViewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "vViewer");vViewer->addPointCloud(vCloud, "vCloud");vViewerRenderer->SetViewport(.5, .5, 1, 1);vtkWidget->setRenderWindow(renderWindow);grayViewer->setupInteractor(vtkWidget->interactor(), vtkWidget->renderWindow());hsvViewer->setupInteractor(vtkWidget->interactor(), vtkWidget->renderWindow());hViewer->setupInteractor(vtkWidget->interactor(), vtkWidget->renderWindow());vViewer->setupInteractor(vtkWidget->interactor(), vtkWidget->renderWindow());vtkNew<vtkAxesActor> grayAxes, hsvAxes, hAxes, vAxes;grayAxes->SetTotalLength(1, 1, 1);hsvAxes->SetTotalLength(1, 1, 1);hAxes->SetTotalLength(1, 1, 1);vAxes->SetTotalLength(1, 1, 1);grayRenderer->AddActor(grayAxes);hsvRenderer->AddActor(hsvAxes);hViewerRenderer->AddActor(hAxes);vViewerRenderer->AddActor(vAxes);renderWindow->AddRenderer(grayRenderer);renderWindow->AddRenderer(hsvRenderer);renderWindow->AddRenderer(hViewerRenderer);renderWindow->AddRenderer(vViewerRenderer); }GrayVirsual::~GrayVirsual() {}void GrayVirsual::loadImage(const QString& fileName) {cv::Mat image = cv::imread(fileName.toStdString());if (image.empty()){QMessageBox::information(this, "提示", "加載圖片失敗");return;}cv::Mat grayImage;cv::cvtColor(image, grayImage, cv::COLOR_BGR2GRAY);grayCloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>);// 遍歷像素for (int i = 0; i < grayImage.rows; i++){for (int j = 0; j < grayImage.cols; j++){grayCloud->push_back({ static_cast<float>(i),static_cast<float>(j),static_cast<float>(grayImage.at<uchar>(i, j)),255,255,255 });}}// 點坐標同除255for (int i = 0; i < grayCloud->size(); i++){grayCloud->points[i].x /= 255;grayCloud->points[i].y /= 255;grayCloud->points[i].z /= 255;}grayViewer->updatePointCloud(grayCloud, "grayCloud");// 垂直卷積cv::Mat vImg;cv::Mat vKernel = (cv::Mat_<float>(3, 3) << -1, 0, 1, -1, 0, 1, -1, 0, 1);cv::filter2D(grayImage, vImg, image.depth(), vKernel);vCloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>);// 遍歷像素for (int i = 0; i < vImg.rows; i++){for (int j = 0; j < vImg.cols; j++){vCloud->push_back({ static_cast<float>(i),static_cast<float>(j),static_cast<float>(vImg.at<uchar>(i, j)),255,255,255 });}}// 點坐標同除255for (int i = 0; i < vCloud->size(); i++){vCloud->points[i].x /= 255;vCloud->points[i].y /= 255;vCloud->points[i].z /= 255;}vViewer->updatePointCloud(vCloud, "vCloud");// 水平卷積cv::Mat hImg;cv::Mat hKernel = (cv::Mat_<float>(3, 3) << -1, -1, -1, 0, 0, 0, 1, 1, 1);cv::filter2D(grayImage, hImg, image.depth(), hKernel);hCloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>);// 遍歷像素for (int i = 0; i < hImg.rows; i++){for (int j = 0; j < hImg.cols; j++){hCloud->push_back({ static_cast<float>(i),static_cast<float>(j),static_cast<float>(hImg.at<uchar>(i, j)),255,255,255 });}}// 點坐標同除255for (int i = 0; i < hCloud->size(); i++){hCloud->points[i].x /= 255;hCloud->points[i].y /= 255;hCloud->points[i].z /= 255;}hViewer->updatePointCloud(hCloud, "hCloud");cv::Mat hsv;// 轉為 HSVcv::cvtColor(image, hsv, cv::COLOR_BGR2HSV);cv::Mat mask;// HSV 篩選掩膜cv::inRange(hsv, cv::Scalar{ 40, 70, 46 }, cv::Scalar{ 77, 255, 255 }, mask);// 腐蝕cv::Mat element = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(3, 3));cv::erode(mask, mask, element);// 與cv::Mat mask_and;cv::bitwise_and(image, image, mask_and, mask);// 中值模糊cv::medianBlur(mask_and, image, 3);// 轉為灰度圖cv::cvtColor(image, grayImage, cv::COLOR_BGR2GRAY);hsvCloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>);// 遍歷像素for (int i = 0; i < grayImage.rows; i++){for (int j = 0; j < grayImage.cols; j++){hsvCloud->push_back({ static_cast<float>(i),static_cast<float>(j),static_cast<float>(grayImage.at<uchar>(i, j)),255,255,255 });}}// 點坐標同除255for (int i = 0; i < hsvCloud->size(); i++){hsvCloud->points[i].x /= 255;hsvCloud->points[i].y /= 255;hsvCloud->points[i].z /= 255;}hsvViewer->updatePointCloud(hsvCloud, "hsvCloud"); }

跪求優雅的圖片轉點云的方式！！！

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