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3D_PCD2View.cpp
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3D_PCD2View.cpp
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// 3D_PCD2View.cpp : CMy3D_PCD2View 类的实现
//
#include "stdafx.h"
// SHARED_HANDLERS 可以在实现预览、缩略图和搜索筛选器句柄的
// ATL 项目中进行定义，并允许与该项目共享文档代码。
#ifndef SHARED_HANDLERS
#include "3D_PCD2.h"
#endif
#include "3D_PCD2Doc.h"
#include "3D_PCD2View.h"
#include "ChildFrm.h"
#ifdef _DEBUG
#define new DEBUG_NEW
#endif
// CMy3D_PCD2View
IMPLEMENT_DYNCREATE(CMy3D_PCD2View, CView)
BEGIN_MESSAGE_MAP(CMy3D_PCD2View, CView)
// 标准打印命令
ON_COMMAND(ID_FILE_PRINT, &CView::OnFilePrint)
ON_COMMAND(ID_FILE_PRINT_DIRECT, &CView::OnFilePrint)
ON_COMMAND(ID_FILE_PRINT_PREVIEW, &CView::OnFilePrintPreview)
ON_WM_CREATE()
ON_WM_DESTROY()
ON_WM_SIZE()
ON_WM_LBUTTONDOWN()
ON_WM_LBUTTONUP()
ON_WM_MOUSEMOVE()
ON_WM_PAINT()
ON_COMMAND(ID_FILE_OPEN, &CMy3D_PCD2View::OnFileOpen)
ON_COMMAND(ID_FILE_SAVE, &CMy3D_PCD2View::OnFileSave)
ON_COMMAND(ID_FILE_SAVE_AS, &CMy3D_PCD2View::OnFileSaveAs)
ON_WM_RBUTTONUP()
ON_WM_RBUTTONDOWN()
END_MESSAGE_MAP()
// CMy3D_PCD2View 构造/析构
CMy3D_PCD2View::CMy3D_PCD2View()
{
// TODO: 在此处添加构造代码
((CChildFrame*)AfxGetApp())->m_MyDrawView = this;
// OpenGL
m_hGLContext = NULL;
m_GLPixelIndex = 0;
// Mouse
b_LeftButtonDown = FALSE;
b_RightButtonDown = FALSE;
//m_CursorRotation = AfxGetApp()->LoadCursor(IDC_CURSOR_ROTATION);
//初始化各种用于显示的变量
b_FileInputed = FALSE;
b_BoundaryChecked = false;
b_BoundaryCluster = false;
b_SelectedPoints = false;
InitGeometry();
//设为非拾取模式
b_SelectingMode = false;
//设为非约束点选择模式
b_GetingRPMode = false;
//设置为非点属性选择模式
b_SelectingPointPropertyMode = false;
//三视图显示
b_TriWindowMode = false;
b_LeftButtonFirstDown = true;
b_SurfaceGenerated = false;
b_NormalVectorMode = false;
b_test = false;
}
void CMy3D_PCD2View::InitGeometry(void)
{
m_xRotation = 0.0f;
m_yRotation = 0.0f;
m_xTranslation = 0.0f;
m_yTranslation = 0.0f;
m_zTranslation = 0.0f;
m_xScaling = 1.0f;
m_yScaling = 1.0f;
m_zScaling = 1.0f;
}
CMy3D_PCD2View::~CMy3D_PCD2View()
{
}
BOOL CMy3D_PCD2View::PreCreateWindow(CREATESTRUCT& cs)
{
// TODO: 在此处通过修改
// CREATESTRUCT cs 来修改窗口类或样式
return CView::PreCreateWindow(cs);
}
// CMy3D_PCD2View 绘制
void CMy3D_PCD2View::OnDraw(CDC* /*pDC*/)
{
CMy3D_PCD2Doc* pDoc = GetDocument();
ASSERT_VALID(pDoc);
if (!pDoc)
return;
// TODO: 在此处为本机数据添加绘制代码
}
// CMy3D_PCD2View 打印
BOOL CMy3D_PCD2View::OnPreparePrinting(CPrintInfo* pInfo)
{
// 默认准备
return DoPreparePrinting(pInfo);
}
void CMy3D_PCD2View::OnBeginPrinting(CDC* /*pDC*/, CPrintInfo* /*pInfo*/)
{
// TODO: 添加额外的打印前进行的初始化过程
}
void CMy3D_PCD2View::OnEndPrinting(CDC* /*pDC*/, CPrintInfo* /*pInfo*/)
{
// TODO: 添加打印后进行的清理过程
}
// CMy3D_PCD2View 诊断
#ifdef _DEBUG
void CMy3D_PCD2View::AssertValid() const
{
CView::AssertValid();
}
void CMy3D_PCD2View::Dump(CDumpContext& dc) const
{
CView::Dump(dc);
}
CMy3D_PCD2Doc* CMy3D_PCD2View::GetDocument() const // 非调试版本是内联的
{
ASSERT(m_pDocument->IsKindOf(RUNTIME_CLASS(CMy3D_PCD2Doc)));
return (CMy3D_PCD2Doc*)m_pDocument;
}
#endif //_DEBUG
// CMy3D_PCD2View 消息处理程序
int CMy3D_PCD2View::OnCreate(LPCREATESTRUCT lpCreateStruct)
{
if (CView::OnCreate(lpCreateStruct) == -1)
return -1;
HWND hWnd = GetSafeHwnd();
HDC hDC = ::GetDC(hWnd);
if (SetWindowPixelFormat(hDC) == FALSE)
{
return 0;
}
if (CreateViewGLContext(hDC) == FALSE)
{
return 0;
}
/*
glEnable(GL_NORMALIZE);//进行光照模拟前需要对法向量进行单位化才能
//开始进行光照计算.
//glClearDepth(1);
GLfloat light1PosType[] = { 0.0, 1.0, 0.0, 0.0 };//设置一个无限远的光源
glLightfv(GL_LIGHT1, GL_POSITION, light1PosType);
// Default : lighting
glEnable(GL_LIGHT1);
glEnable(GL_LIGHTING);
*/
return 0;
}
bool CMy3D_PCD2View::SetWindowPixelFormat(HDC hDC)
{
PIXELFORMATDESCRIPTOR pixelDesc;
pixelDesc.nSize = sizeof(PIXELFORMATDESCRIPTOR);
pixelDesc.nVersion = 1;
pixelDesc.dwFlags = PFD_DRAW_TO_WINDOW | PFD_SUPPORT_OPENGL |
PFD_DOUBLEBUFFER | PFD_STEREO_DONTCARE;
pixelDesc.iPixelType = PFD_TYPE_RGBA;
pixelDesc.cColorBits = 32;
pixelDesc.cRedBits = 8;
pixelDesc.cRedShift = 16;
pixelDesc.cGreenBits = 8;
pixelDesc.cGreenShift = 8;
pixelDesc.cBlueBits = 8;
pixelDesc.cBlueShift = 0;
pixelDesc.cAlphaBits = 0;
pixelDesc.cAlphaShift = 0;
pixelDesc.cAccumBits = 64;
pixelDesc.cAccumRedBits = 16;
pixelDesc.cAccumGreenBits = 16;
pixelDesc.cAccumBlueBits = 16;
pixelDesc.cAccumAlphaBits = 0;
pixelDesc.cDepthBits = 32;
pixelDesc.cStencilBits = 8;
pixelDesc.cAuxBuffers = 0;
pixelDesc.iLayerType = PFD_MAIN_PLANE;
pixelDesc.bReserved = 0;
pixelDesc.dwLayerMask = 0;
pixelDesc.dwVisibleMask = 0;
pixelDesc.dwDamageMask = 0;
m_GLPixelIndex = ChoosePixelFormat(hDC, &pixelDesc);
if (m_GLPixelIndex == 0) // Choose default
{
m_GLPixelIndex = 1;
if (DescribePixelFormat(hDC, m_GLPixelIndex,
sizeof(PIXELFORMATDESCRIPTOR), &pixelDesc) == 0)
return FALSE;
}
if (!SetPixelFormat(hDC, m_GLPixelIndex, &pixelDesc))
return FALSE;
return TRUE;
}
bool CMy3D_PCD2View::CreateViewGLContext(HDC hDC)
{
m_hGLContext = wglCreateContext(hDC);
if (m_hGLContext == NULL)
return FALSE;
if (wglMakeCurrent(hDC, m_hGLContext) == FALSE)
return FALSE;
return TRUE;
}
void CMy3D_PCD2View::OnDestroy()
{
if (wglGetCurrentContext() != NULL)
wglMakeCurrent(NULL, NULL);
if (m_hGLContext != NULL)
{
wglDeleteContext(m_hGLContext);
m_hGLContext = NULL;
}
CView::OnDestroy();
}
void CMy3D_PCD2View::OnSize(UINT nType, int cx, int cy)
{
CView::OnSize(nType, cx, cy);
m_DisplayWidth = cx;
m_DisplayHeight = cy;
//glDrawBuffer(GL_BACK);
//glEnable(GL_DEPTH_TEST);//本程序无需显示深度
}
//按鼠标左键后的消息响应函数
void CMy3D_PCD2View::OnLButtonDown(UINT nFlags, CPoint point)
{
// TODO: 在此添加消息处理程序代码和/或调用默认值
b_LeftButtonDown = TRUE;
m_LeftDownPos = point;
if (b_SelectingMode == true || b_SelectingPointPropertyMode == true)
{
SelectObject(point,point);//鼠标拾取
}
InvalidateRect(NULL, FALSE);
CView::OnLButtonDown(nFlags, point);
}
//松鼠标左键后的消息响应函数
void CMy3D_PCD2View::OnLButtonUp(UINT nFlags, CPoint point)
{
// TODO: 在此添加消息处理程序代码和/或调用默认值
if (b_GetingRPMode == true)
{//此时为约束点选择模式
SelectObject(point, m_LastPoint);
}
b_LeftButtonFirstDown = true;
b_LeftButtonDown = FALSE;
InvalidateRect(NULL, FALSE);
CView::OnLButtonUp(nFlags, point);
}
void CMy3D_PCD2View::OnMouseMove(UINT nFlags, CPoint point)
{
if (b_LeftButtonDown)//控制物体的转动
{
if (b_LeftButtonFirstDown == true)
{
m_LastPoint = point;
b_LeftButtonFirstDown = false;
}
if (b_SelectingMode == false && b_GetingRPMode == false && b_SelectingPointPropertyMode == false)
{
m_yRotation -= (float)(m_LeftDownPos.x - point.x) / 3.0f;
m_xRotation -= (float)(m_LeftDownPos.y - point.y) / 3.0f;
((CChildFrame*)AfxGetApp())->m_RightView->SetAngle();
m_LeftDownPos = point;
}
InvalidateRect(NULL, FALSE);
}
else if (b_RightButtonDown)
{
m_xScaling -= (float)(m_RightDownPos.x - point.x) / 50;
if (m_xScaling <= 0)
{
m_xScaling += (float)(m_RightDownPos.x - point.x) / 50;
}
else
{
m_yScaling -= (float)(m_RightDownPos.x - point.x) / 50;
m_zScaling -= (float)(m_RightDownPos.x - point.x) / 50;
}
m_RightDownPos = point;
InvalidateRect(NULL, FALSE);
}
CView::OnMouseMove(nFlags, point);
}
//对窗口内的内容进行绘制
void CMy3D_PCD2View::OnPaint()
{
// Device context for painting
CPaintDC dc(this);
// Useful in multidoc templates
HWND hWnd = GetSafeHwnd();
HDC hDC = ::GetDC(hWnd);
wglMakeCurrent(hDC, m_hGLContext);
// Start rendering...
//程序在这个地方可以调用一个点云模型的绘制函数
PointCloudDisplay();
if (b_SurfaceGenerated)
{
glClearDepth(1.0f);
glEnable(GL_DEPTH_TEST);
//创建光源
GLfloat light_position0[] = { 0.0f, 0.0f, -1.0f, 0.0f };
GLfloat light_position1[] = { 0.0f, 0.0f, 1.0f, 0.0f };
GLfloat light_position2[] = { 0.0f, 1.0f, 0.0f, 0.0f };
GLfloat light_position3[] = { 0.0f, -1.0f, 0.0f, 0.0f };
GLfloat light_diffuse[] = { 1.0f, 1.0f, 1.0f, 0.0f };
glLightfv(GL_LIGHT0, GL_POSITION, light_position0);
glLightfv(GL_LIGHT1, GL_POSITION, light_position1);
glLightfv(GL_LIGHT2, GL_POSITION, light_position2);
glLightfv(GL_LIGHT3, GL_POSITION, light_position3);
glLightfv(GL_LIGHT0, GL_DIFFUSE, light_diffuse);
glLightfv(GL_LIGHT1, GL_DIFFUSE, light_diffuse);
glLightfv(GL_LIGHT2, GL_DIFFUSE, light_diffuse);
glLightfv(GL_LIGHT3, GL_DIFFUSE, light_diffuse);
glEnable(GL_LIGHTING); //启动光照功能，和两个光照
glEnable(GL_LIGHT0);
glEnable(GL_LIGHT1);
glEnable(GL_LIGHT2);
glEnable(GL_LIGHT3);
glEnable(GL_LIGHT4);
glLightModeli(GL_LIGHT_MODEL_TWO_SIDE, GL_TRUE);//启动双面光照(important!)
InvalidateRect(NULL, FALSE);
}
/*GLfloat light_position[] = { 10.0, 10.0, 10.0, 0.0 };
glLightfv(GL_LIGHT0, GL_POSITION, light_position);
glEnable(GL_LIGHTING);
glEnable(GL_LIGHT0);
*/
// Double buffer
//交换缓冲区，显示缓冲区中的内容，
//如果不这么做，在双缓存的技术下就看不到图像了。
SwapBuffers(dc.m_ps.hdc);
}
void CMy3D_PCD2View::PointCloudDisplay()
{
if (b_TriWindowMode)/*侧顶视图*/
{
glEnable(GL_SCISSOR_TEST);/*启动剪裁测试*/
glScissor(0, 0, m_DisplayWidth / 2, m_DisplayHeight);/*第一个显示区域大小为整个客户区的左半*/
glClearColor(1, 1, 1, 1.0);/*设置第一个客户区的清屏颜色*/
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);/*清除颜色缓存和深度缓存*/
//glClearDepth(1.0);
glDisable(GL_SCISSOR_TEST);/*关闭剪裁测试*/
glViewport(0, 0, m_DisplayWidth / 2, m_DisplayHeight);/*设置视口*/
glMatrixMode(GL_PROJECTION);//进入投影模式
glLoadIdentity();/*清空当前矩阵*/
if ((m_DisplayWidth / 2) <= m_DisplayHeight)/*设置投影方式*/
{
glOrtho(-1.5, 1.5, -1.5*(GLdouble)m_DisplayHeight / (GLdouble)(m_DisplayWidth / 2), 1.5*(GLdouble)m_DisplayHeight / (GLdouble)(m_DisplayWidth / 2), -10.0, 10.0);
}
else
{
glOrtho(-1.5*(GLdouble)(m_DisplayWidth / 2) / (GLdouble)m_DisplayHeight, 1.5*(GLdouble)(m_DisplayWidth / 2) / (GLdouble)m_DisplayHeight, -1.5, 1.5, -10.0, 10.0);
}
//设置照相机方向为前方
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(0, 0, 1.5, 0, 0, 0, 0, 1, 0);
ReadPointCloudData();
glEnable(GL_SCISSOR_TEST);/*启动剪裁测试*/
glScissor(m_DisplayWidth / 2, 0, m_DisplayWidth / 2, m_DisplayHeight / 2);/*第二个区域的大小为右半部分的上半部分*/
glClearColor(1 - 0.05, 1 - 0.05, 1 - 0.05, 1.0f);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//glClearDepth(1.0);
glDisable(GL_SCISSOR_TEST);
glViewport(m_DisplayWidth / 2, 0, m_DisplayWidth / 2, m_DisplayHeight / 2);
glMatrixMode(GL_PROJECTION);//进入投影模式
glLoadIdentity();/*清空当前矩阵*/
if ((m_DisplayWidth) <= m_DisplayHeight)/*设置投影方式*/
{
glOrtho(-1.5, 1.5, -1.5*(GLdouble)m_DisplayHeight / (GLdouble)(m_DisplayWidth), 1.5*(GLdouble)m_DisplayHeight / (GLdouble)(m_DisplayWidth), -10.0, 10.0);
}
else
{
glOrtho(-1.5*(GLdouble)(m_DisplayWidth) / (GLdouble)m_DisplayHeight, 1.5*(GLdouble)(m_DisplayWidth) / (GLdouble)m_DisplayHeight, -1.5, 1.5, -10.0, 10.0);
}
//设置照相机方向为右面
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(1.5, 0, 0, 0, 0, 0, 0, 1, 0);
ReadPointCloudData();
glEnable(GL_SCISSOR_TEST);
glScissor(m_DisplayWidth / 2, m_DisplayHeight / 2, m_DisplayWidth / 2, m_DisplayHeight / 2);/*第三个客户区的右半部分的下半部分*/
glClearColor(1 - 0.1, 1 - 0.1, 1 - 0.1, 1.0);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// glClearDepth(1.0);
glDisable(GL_SCISSOR_TEST);
glViewport(m_DisplayWidth / 2, m_DisplayHeight / 2, m_DisplayWidth / 2, m_DisplayHeight / 2);
glMatrixMode(GL_PROJECTION);//进入投影模式
glLoadIdentity();/*清空当前矩阵*/
if ((m_DisplayWidth) <= m_DisplayHeight)/*设置投影方式*/
{
glOrtho(-1.5, 1.5, -1.5*(GLdouble)m_DisplayHeight / (GLdouble)(m_DisplayWidth), 1.5*(GLdouble)m_DisplayHeight / (GLdouble)(m_DisplayWidth), -10.0, 10.0);
}
else
{
glOrtho(-1.5*(GLdouble)(m_DisplayWidth) / (GLdouble)m_DisplayHeight, 1.5*(GLdouble)(m_DisplayWidth) / (GLdouble)m_DisplayHeight, -1.5, 1.5, -10.0, 10.0);
}
//设置照相机方向为上方
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(0, 1.5, 0, 0, 0, 0, 0, 0, -1);
ReadPointCloudData();
}
else/*全景视图下*/
{
glClearColor(1.0, 1.0, 1.0, 1.0);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
//glClearDepth(1.0);
glViewport(0, 0, m_DisplayWidth, m_DisplayHeight);
glMatrixMode(GL_PROJECTION);//进入投影模式
glLoadIdentity();
if ((m_DisplayWidth) <= m_DisplayHeight)
{
glOrtho(-1.5, 1.5, -1.5*(GLdouble)m_DisplayHeight / (GLdouble)(m_DisplayWidth), 1.5*(GLdouble)m_DisplayHeight / (GLdouble)(m_DisplayWidth), -10.0, 10.0);
}
else
{
glOrtho(-1.5*(GLdouble)(m_DisplayWidth) / (GLdouble)m_DisplayHeight, 1.5*(GLdouble)(m_DisplayWidth) / (GLdouble)m_DisplayHeight, -1.5, 1.5, -10.0, 10.0);
}
//glFrustum( -1.0, 1.0, -1.0, 1.0, -1.0, 1.0 );
//设定摄像机的位置和摄影方向
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
gluLookAt(0, 0, 1.5, 0, 0, 0, 0, 1, 0);
ReadPointCloudData();
}
//////////////////////////////////////////////////////////////////
glFlush();/*强制显示模型*/
}
//读取点云数据
void CMy3D_PCD2View::ReadPointCloudData()
{
// Position / translation / scale
glTranslated(m_xTranslation, m_yTranslation, m_zTranslation);
glRotatef(m_xRotation, 1.0, 0.0, 0.0);
glRotatef(m_yRotation, 0.0, 1.0, 0.0);
glScalef(m_xScaling, m_yScaling, m_zScaling);
//初始化一个临时点云存储器
if (b_FileInputed && !b_SurfaceGenerated)
{
glPointSize(4.0);
PCPoint* tempPointCloud = m_myPointCloudData.GetOriginPointCloud();//获取点云模型
for (int num = 0; num < m_myPointCloudData.GetPointSumNumber(); num++)
{
glLoadName(num);
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_COLOR_ARRAY);
glVertexPointer(3, GL_DOUBLE, 0, tempPointCloud[num].m_Coordinate);
glColorPointer(3, GL_DOUBLE, 0, tempPointCloud[num].m_Color);
glDrawArrays(GL_POINTS, 0, 1);
}
//显示插入的修补点
vector<PCPoint>* AddedPoingCLoud = m_myPointCloudData.GetNewAddedPoint();
for (int num = 0; num < AddedPoingCLoud->size(); num++)
{
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_COLOR_ARRAY);
glVertexPointer(3, GL_DOUBLE, 0, (*AddedPoingCLoud)[num].m_Coordinate);
glColorPointer(3, GL_DOUBLE, 0, (*AddedPoingCLoud)[num].m_Color);
glDrawArrays(GL_POINTS, 0, 1);
}
//显示边界聚类后的结果
if (b_test)
{
vector<PCPoint>* boundaryPointClusters = m_myPointCloudData.GetBoundaryPointClusters();
for (int i = 0; i < m_myPointCloudData.GetCloudClusterNum(); i++)
{
for (int num = 0; num < boundaryPointClusters[i].size(); num++)
{
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_COLOR_ARRAY);
glVertexPointer(3, GL_DOUBLE, 0, boundaryPointClusters[i][num].m_Coordinate);
glColorPointer(3, GL_DOUBLE, 0, boundaryPointClusters[i][num].m_Color);
glDrawArrays(GL_POINTS, 0, 1);
}
}
}
if (b_NormalVectorMode)
{//如果为法矢量显示模式，则进行法矢量的显示
for (int num = 0; num < m_myPointCloudData.m_SelectedPointsNormalPoints.size(); num++)
{
glBegin(GL_LINES);
glColor3f(1.0, 0.0, 0.0);
glVertex3f(m_myPointCloudData.m_SelectedPointsNormalPoints[num].m_Coordinate[0]
, m_myPointCloudData.m_SelectedPointsNormalPoints[num].m_Coordinate[1]
, m_myPointCloudData.m_SelectedPointsNormalPoints[num].m_Coordinate[2]);
glVertex3f(m_myPointCloudData.m_SelectedPointsNormalPoints2[num].m_Coordinate[0]
, m_myPointCloudData.m_SelectedPointsNormalPoints2[num].m_Coordinate[1],
m_myPointCloudData.m_SelectedPointsNormalPoints2[num].m_Coordinate[2]);
glEnd();
}
}
///test begin///
/* for (int num = 0; num < m_myPointCloudData.m_TestSeletedPointCloud.size() / 2; num++)
{
glBegin(GL_LINES);
glColor3f(1.0,0.0,0.0);
glVertex3f(m_myPointCloudData.m_TestSeletedPointCloud[num].m_Coordinate[0], m_myPointCloudData.m_TestSeletedPointCloud[num].m_Coordinate[1], m_myPointCloudData.m_TestSeletedPointCloud[num].m_Coordinate[2]);
glVertex3f(m_myPointCloudData.m_TestSeletedPointCloud[num + m_myPointCloudData.m_TestSeletedPointCloud.size() / 2].m_Coordinate[0], m_myPointCloudData.m_TestSeletedPointCloud[num + m_myPointCloudData.m_TestSeletedPointCloud.size() / 2].m_Coordinate[1], m_myPointCloudData.m_TestSeletedPointCloud[num + m_myPointCloudData.m_TestSeletedPointCloud.size() / 2].m_Coordinate[2]);
glEnd();
}
*/
/*for (int i = 0; i < m_myPointCloudData.m_TestSeletedPointCloud.size(); i++)
{
m_myPointCloudData.m_TestSeletedPointCloud[i].m_Color[1] = 0.4;
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_COLOR_ARRAY);
glVertexPointer(3, GL_DOUBLE, 0, m_myPointCloudData.m_TestSeletedPointCloud[i].m_Coordinate);
glColorPointer(3, GL_DOUBLE, 0, m_myPointCloudData.m_TestSeletedPointCloud[i].m_Color);
glDrawArrays(GL_POINTS, 0, 1);
}*/
///test end///
////test begin////*/
/*PCPoint* ttempPoint = m_myPointCloudData.GetOriginPointCloud();
m_myPointCloudData.PCLKDtreeNKSearch(ttempPoint[15245], 50);
for (int i = 0; i < m_myPointCloudData.RkNearestPoints.size(); i++)
{
if (i == 0)
m_myPointCloudData.RkNearestPoints[i].m_Color[1] = 1;
else
m_myPointCloudData.RkNearestPoints[i].m_Color[2] = 0.1;
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_COLOR_ARRAY);
glVertexPointer(3, GL_DOUBLE, 0, m_myPointCloudData.RkNearestPoints[i].m_Coordinate);
glColorPointer(3, GL_DOUBLE, 0, m_myPointCloudData.RkNearestPoints[i].m_Color);
glDrawArrays(GL_POINTS, 0, 1);
}
m_myPointCloudData.RkNearestPoints.clear();
////test end//*/
}
else if (b_SurfaceGenerated && b_FileInputed)
{//如果完成了模型的三角化
//定义材质
GLfloat mat_disffuse[] = { 0.8f, 0.8f, 0.5f, 1.0f };
glMaterialfv(GL_FRONT_AND_BACK, GL_DIFFUSE, mat_disffuse);
glClearColor(0.0,0.0,0.0,0.0);
glShadeModel(GL_SMOOTH);
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);
glColor3f(1.0f,1.0f,0.0f);
PCPoint* addedRepairingPointCloud = m_myPointCloudData.GetAddedRepairingPointCloud();
for (size_t i = 0; i < m_myPointCloudData.triangles.polygons.size(); i++)
{
PCPoint point1 = addedRepairingPointCloud[m_myPointCloudData.triangles.polygons[i].vertices[0]];
PCPoint point2 = addedRepairingPointCloud[m_myPointCloudData.triangles.polygons[i].vertices[1]];
PCPoint point3 = addedRepairingPointCloud[m_myPointCloudData.triangles.polygons[i].vertices[2]];
GLdouble dpoint1[3] = { point1.m_Coordinate[0], point1.m_Coordinate[1], point1.m_Coordinate[2] };
GLdouble dpoint2[3] = { point2.m_Coordinate[0], point2.m_Coordinate[1], point2.m_Coordinate[2] };
GLdouble dpoint3[3] = { point3.m_Coordinate[0], point3.m_Coordinate[1], point3.m_Coordinate[2] };
GLdouble dNormal[3] = {0.0, 0.0, 1.0};
CaculateNormal(dpoint1, dpoint2, dpoint3, dNormal);
glBegin(GL_POLYGON);
glNormal3dv(dNormal);
glVertex3f(point1.m_Coordinate[0], point1.m_Coordinate[1], point1.m_Coordinate[2]);
glVertex3f(point2.m_Coordinate[0], point2.m_Coordinate[1], point2.m_Coordinate[2]);
glVertex3f(point3.m_Coordinate[0], point3.m_Coordinate[1], point3.m_Coordinate[2]);
glEnd(); //网格绘制完成
}
}
/* vector<PCPoint>* selectedPoint = m_myPointCloudData.GetSelectedPoint();
for (int num = 0; num < selectedPoint->size() / 2; num++)
{
glBegin(GL_LINES);
glColor3f(1.0,0.0,0.0);
glVertex3f((*selectedPoint)[num].m_Coordinate[0], (*selectedPoint)[num].m_Coordinate[1], (*selectedPoint)[num].m_Coordinate[2]);
glVertex3f((*selectedPoint)[num + selectedPoint->size() / 2].m_Coordinate[0], (*selectedPoint)[num + selectedPoint->size() / 2].m_Coordinate[1], (*selectedPoint)[num + selectedPoint->size() / 2].m_Coordinate[2]);
glEnd();
}
*/
/*///test begin//
vector<PCPoint>* selectedPoint2 = m_myPointCloudData.GetSelectedPoint();
for (int num = 0; num < selectedPoint2->size() / 2; num++)
{
(*selectedPoint2)[num].m_Color[0] = 1.0;
(*selectedPoint2)[num].m_Color[1] = 0.5;
glEnableClientState(GL_VERTEX_ARRAY);
glEnableClientState(GL_COLOR_ARRAY);
glVertexPointer(3, GL_DOUBLE, 0, (*selectedPoint2)[num].m_Coordinate);
glColorPointer(3, GL_DOUBLE, 0, (*selectedPoint2)[num].m_Color);
glDrawArrays(GL_POINTS, 0, 1);
}
//test end///*/
}
void CMy3D_PCD2View::OnFileOpen()//打开点云文件
{
// TODO: 在此添加命令处理程序代码
CFileDialog fdlg(true, "txt", NULL, OFN_HIDEREADONLY | OFN_OVERWRITEPROMPT, _T("点云数据(*.txt)||"), NULL);
fdlg.m_ofn.lpstrTitle = "browse";
if (fdlg.DoModal() == IDOK) {//生成形式对话框
CString m_strDirectory = fdlg.GetPathName();
CString m_filename = fdlg.GetFileName();
char *filename = (LPSTR)(LPCTSTR)m_filename;
m_myPointCloudData.ReadPointCloudFile((LPSTR)(LPCTSTR)m_strDirectory);//读取点云数据文件
//设置模型名称和点云数量，用于显示
m_ShowFileName = filename;
m_ShowPointCloudNum = m_myPointCloudData.GetPointSumNumber();
((CChildFrame*)AfxGetApp())->m_RightView->SetNameAndNum();
b_FileInputed = TRUE;
b_FIP = true;
MessageBox("导入成功", "提示");
}
InvalidateRect(NULL, FALSE);
}
void CMy3D_PCD2View::OnRButtonUp(UINT nFlags, CPoint point)
{
// TODO: 在此添加消息处理程序代码和/或调用默认值
m_RightDownPos = CPoint(0, 0);
b_RightButtonDown = FALSE;
CView::OnRButtonUp(nFlags, point);
}
void CMy3D_PCD2View::OnRButtonDown(UINT nFlags, CPoint point)
{
// TODO: 在此添加消息处理程序代码和/或调用默认值
b_RightButtonDown = TRUE;
m_RightDownPos.x = point.x;
m_RightDownPos.y = point.y;
CView::OnRButtonDown(nFlags, point);
}
//进行鼠标拾取
void CMy3D_PCD2View::SelectObject(CPoint point, CPoint lastPoint)
{
GLuint selectBuf[51200];
GLint hits;
GLint viewport[4];
glGetIntegerv(GL_VIEWPORT, viewport);
glSelectBuffer(51200, selectBuf);
glRenderMode(GL_SELECT); // Enter the SELECT render mode
glInitNames();
glPushName(0);
glMatrixMode(GL_PROJECTION);
glPushMatrix();
glLoadIdentity();
if (b_GetingRPMode == true)
{//当为约束点选择模式时，选择一片方形点云
gluPickMatrix((GLdouble)((point.x + lastPoint.x) / 2), (GLdouble)(viewport[3] - (point.y + lastPoint.y) / 2), point.x - lastPoint.x, point.y - lastPoint.y, viewport);
}
if (b_SelectingMode == true || b_SelectingPointPropertyMode == true)
{//当为鼠标拾取模式时，每次只拾取一个点
gluPickMatrix((GLdouble)point.x, (GLdouble)(viewport[3] - point.y), 5.0, 5.0, viewport);
}
glViewport(0, 0, m_DisplayWidth, m_DisplayHeight);
glOrtho(-1.5*(GLdouble)(m_DisplayWidth) / (GLdouble)m_DisplayHeight, 1.5*(GLdouble)(m_DisplayWidth) / (GLdouble)m_DisplayHeight, -1.5, 1.5, -10.0, 10.0);
glMatrixMode(GL_MODELVIEW);
glLoadIdentity();
glPushMatrix();
ReadPointCloudData();
glPopMatrix();
glFlush();
hits = glRenderMode(GL_RENDER);
glMatrixMode(GL_PROJECTION);
glPopMatrix();
PCPoint* tempPointCloud = m_myPointCloudData.GetOriginPointCloud();
if (hits>0)
{
int n = 0; double minz = selectBuf[1];
for (int i = 1; i<hits; i++)
{
if (b_SelectingMode == true)
{
if (selectBuf[1 + i * 4] < minz)
{
n = i;
minz = selectBuf[1 + i * 4];
}
}
if (b_GetingRPMode == true)
{
tempPointCloud[selectBuf[3 + i * 4]].b_Selected = true;//设为被选择
tempPointCloud[selectBuf[3 + i * 4]].m_Color[1] = 1.0;//设为绿色
}
}
if (b_SelectingMode == true)
{
tempPointCloud[selectBuf[3 + n * 4]].b_Selected = true;//设为被选择
tempPointCloud[selectBuf[3 + n * 4]].m_Color[1] = 1.0;//设为绿色
}
if (b_SelectingPointPropertyMode == true)
{
tempPointCloud[selectBuf[3 + n * 4]].b_Selected = true;//设为被选择
tempPointCloud[selectBuf[3 + n * 4]].m_Color[1] = 1.0;//设为绿色
//显示点属性对话框
PointProperty *pdlg = new PointProperty(tempPointCloud[selectBuf[3 + n * 4]].m_ID
, tempPointCloud[selectBuf[3 + n * 4]].m_Coordinate[0]
, tempPointCloud[selectBuf[3 + n * 4]].m_Coordinate[1]
, tempPointCloud[selectBuf[3 + n * 4]].m_Coordinate[2]);
pdlg->Create(IDD_POINTPROPERTY, this);
pdlg->ShowWindow(SW_SHOW);
}
}
}
//设为鼠标拾取模式
void CMy3D_PCD2View::SetSelectingMode()
{
b_SelectingMode = true;
b_GetingRPMode = false;
b_NormalVectorMode = false;
}
//设为普通显示模式
void CMy3D_PCD2View::SetNormalMode()
{
b_SelectingMode = false;
b_GetingRPMode = false;
b_SelectingPointPropertyMode = false;
//将鼠标设置为普通模式
SetClassLong(this->GetSafeHwnd(), GCL_HCURSOR, (LONG)LoadCursor(NULL, IDC_ARROW));
}
//设置为约束点选择模式
void CMy3D_PCD2View::SetGetRPMode()
{
b_GetingRPMode = true;
b_SelectingMode = false;
//将鼠标设置为十字
SetClassLong(this->GetSafeHwnd(), GCL_HCURSOR, (LONG)LoadCursor(NULL, IDC_CROSS));
}
//设置为鼠标属性选择模式
void CMy3D_PCD2View::SetGetPointPropertyMode()
{
b_SelectingPointPropertyMode = true;
b_GetingRPMode = false;
}
void CMy3D_PCD2View::OnFileSave()
{
// TODO: 在此添加命令处理程序代码
b_Saved = true;
CFileDialog hFileDlg(false, "txt", NULL, OFN_FILEMUSTEXIST | OFN_PATHMUSTEXIST | OFN_READONLY,
_T("点云数据(*.txt)||"), NULL);
hFileDlg.m_ofn.nFilterIndex = 1;
hFileDlg.m_ofn.hwndOwner = m_hWnd;
hFileDlg.m_ofn.lStructSize = sizeof(OPENFILENAME);
hFileDlg.m_ofn.lpstrTitle = TEXT("保存图像\0");
hFileDlg.m_ofn.nMaxFile = MAX_PATH;
if (hFileDlg.DoModal() == IDOK)
{
CString m_path = hFileDlg.GetPathName();
//其实接下来就是c++文件操作的东西啦 ，这个简单呀！！！
CStdioFile file;
file.Open(_T(m_path), CFile::modeCreate | CFile::modeWrite | CFile::typeText);
file.Close();
FILE* fp;
fopen_s(&fp, m_path, "w");
PCPoint* tempPointCloud = m_myPointCloudData.GetOriginPointCloud();
for (int i = 0; i<m_myPointCloudData.GetPointSumNumber(); i++)
{
if (tempPointCloud[i].b_Selected == false)//保存精简后的数据点
{
fprintf(fp, "%f %f %f\n", tempPointCloud[i].m_Coordinate[2], tempPointCloud[i].m_Coordinate[0], tempPointCloud[i].m_Coordinate[1]);
}
}
fclose(fp);
MessageBox("保存成功！", "提示");
UpdateData(FALSE);//这句能够关闭对话框
}
}
void CMy3D_PCD2View::OnFileSaveAs()
{
// TODO: 在此添加命令处理程序代码
b_Saved = true;
CFileDialog hFileDlg(false, "txt", NULL, OFN_FILEMUSTEXIST | OFN_PATHMUSTEXIST | OFN_READONLY,
_T("点云数据(*.txt)||"), NULL);
hFileDlg.m_ofn.nFilterIndex = 1;
hFileDlg.m_ofn.hwndOwner = m_hWnd;
hFileDlg.m_ofn.lStructSize = sizeof(OPENFILENAME);
hFileDlg.m_ofn.lpstrTitle = TEXT("保存图像\0");
hFileDlg.m_ofn.nMaxFile = MAX_PATH;
if (hFileDlg.DoModal() == IDOK)
{
CString m_path = hFileDlg.GetPathName();
//其实接下来就是c++文件操作的东西啦 ，这个简单呀！！！
CStdioFile file;
file.Open(_T(m_path), CFile::modeCreate | CFile::modeWrite | CFile::typeText);
file.Close();
FILE* fp;
fopen_s(&fp, m_path, "w");
PCPoint* tempPointCloud = m_myPointCloudData.GetOriginPointCloud();
for (int i = 0; i<m_myPointCloudData.GetPointSumNumber(); i++)
{
if (tempPointCloud[i].b_Selected == false)//保存精简后的数据点
{
fprintf(fp, "%f %f %f\n", tempPointCloud[i].m_Coordinate[2], tempPointCloud[i].m_Coordinate[0], tempPointCloud[i].m_Coordinate[1]);
}
}
fclose(fp);
MessageBox("保存成功！", "提示");
UpdateData(FALSE);//这句能够关闭对话框，但是并没有触发保存操作，只需要进行相应的文件操作就好了。。。
}
}
//点云模型的边界检测
void CMy3D_PCD2View::PointCloudBoundaryCheck()
{
PCPoint* tempPointCloud = m_myPointCloudData.GetOriginPointCloud();
for (int num = 0; num < m_myPointCloudData.GetPointSumNumber(); num++)
{//设置为初始状态
tempPointCloud[num].b_BoundaryPoint = false;
tempPointCloud[num].m_Color[0] = 0.0;
tempPointCloud[num].m_Color[1] = 0.0;
tempPointCloud[num].m_Color[2] = 0.0;
}
/*PCPoint* tempPointCloud = m_myPointCloudData.GetOriginPointCloud();
for (int num = 0; num < m_myPointCloudData.GetPointSumNumber(); num++)
{//对每个数据点进行边界检测
gProgress = 50 * ((double)num / (double)m_myPointCloudData.GetPointSumNumber());//用于显示进度条
if (m_myPointCloudData.BoundaryCheck(tempPointCloud[num]) == true)
{
tempPointCloud[num].b_BoundaryPoint = true;//设为边界点
tempPointCloud[num].m_Color[0] = 1.0;//设为红色
}
else
{
tempPointCloud[num].m_Color[2] = 1.0;//设为蓝色
}
}*/
//PCL中的模型边界保留算法
m_myPointCloudData.PCLBoundaryKeep();
gProgressAu = -1;//销毁进度条
MessageBox("边界保留完成！","提示");
InvalidateRect(NULL, FALSE);
}
//点云模型孔洞修补
void CMy3D_PCD2View::PointCloudHoleRepair()
{
b_Saved = false;//文件已修改
//进行孔洞修补，并返回修补结果
if (m_myPointCloudData.HoleRepair())
{
MessageBox("空洞修补完成！", "提示");
}
else
{
MessageBox("该孔洞无法实现修补", "提示");
}
InvalidateRect(NULL, FALSE);
}
//三视图显示
void CMy3D_PCD2View::SetTriWindowsMode()
{
b_TriWindowMode = true;
InvalidateRect(NULL, FALSE);
}
//普通视图显示
void CMy3D_PCD2View::SetSingleWindowMode()
{
b_TriWindowMode = false;
InvalidateRect(NULL, FALSE);
}
//边界聚类
void CMy3D_PCD2View::PointCloudBoundaryClustering()
{
//进行边界聚类
m_myPointCloudData.BoundaryClustering();
MessageBox("边界聚类完成","提示");
InvalidateRect(NULL, FALSE);
b_test = true;
}
//自动修补
void CMy3D_PCD2View::PointCloudAutomaticHoleRepair()
{
b_Saved = false;//文件已修改
gProgressAu = 0;
m_myPointCloudData.AutomaticHoleRepair();
gProgressAu = -1;
MessageBox("自动修补完成", "提示");
InvalidateRect(NULL, FALSE);
}
//点云模型三角化
void CMy3D_PCD2View::PointCLoudSurfaceGenerating()
{
//进行模型三角化
gProgressAu = 0;
m_myPointCloudData.SurfaceGenerating();
MessageBox("模型表面重建完成", "提示");
//三角化完成
b_SurfaceGenerated = true;
InvalidateRect(NULL, FALSE);
}
//进行重绘，主要给其他两个面板调用
void CMy3D_PCD2View::ViewInvalidateRect()
{
InvalidateRect(NULL, FALSE);
}
//获取选取数据点的法矢量
void CMy3D_PCD2View::PointCloudGetSelectedPointsNormalVectors()
{
if (b_NormalVectorMode == false)
{
bool flag = false;
PCPoint* tempPointCloud = m_myPointCloudData.GetOriginPointCloud();
for (int num = 0; num < m_myPointCloudData.GetPointSumNumber(); num++)
{
if (tempPointCloud[num].b_Selected == true)
{
flag = true;
}
}
if (flag)
{
m_myPointCloudData.GetSelectedPointsNormalVectors();
InvalidateRect(NULL, FALSE);
b_NormalVectorMode = true;
}
else
{
MessageBox("请先进入约束点选择模式，选择需要的数据点！", "提示");
}
}
else
{
b_NormalVectorMode = false;