Qt OpenGL 3D 点云数据显示

一、OpenGL 3D 点云数据显示

在Qt中使用OpenGL显示3D点云数据是一个常见的需求，特别是在计算机视觉、机器人学和三维重建等领域。下面我将介绍一个基本的实现方案。

基本实现步骤

1. 创建Qt OpenGL窗口

首先，你需要创建一个继承自QOpenGLWidget的类：

cpp

#include <QOpenGLWidget>
#include <QOpenGLFunctions>

class PointCloudViewer : public QOpenGLWidget, protected QOpenGLFunctions
{
    Q_OBJECT

public:
    explicit PointCloudViewer(QWidget *parent = nullptr);
    ~PointCloudViewer();

protected:
    void initializeGL() override;
    void resizeGL(int w, int h) override;
    void paintGL() override;

private:
    // 点云数据
    std::vector<float> m_points;  // x,y,z,r,g,b 格式
    GLuint m_vbo;
    GLuint m_vao;
};

2. 实现OpenGL初始化

cpp

PointCloudViewer::PointCloudViewer(QWidget *parent)
    : QOpenGLWidget(parent), m_vbo(0), m_vao(0)
{
    // 设置OpenGL版本和格式
    QSurfaceFormat format;
    format.setVersion(3, 3);
    format.setProfile(QSurfaceFormat::CoreProfile);
    setFormat(format);
}

void PointCloudViewer::initializeGL()
{
    initializeOpenGLFunctions();
    glClearColor(0.0f, 0.0f, 0.0f, 1.0f);
    
    // 创建VAO和VBO
    glGenVertexArrays(1, &m_vao);
    glGenBuffers(1, &m_vbo);
    
    // 初始化着色器
    m_shaderProgram = new QOpenGLShaderProgram(this);
    m_shaderProgram->addShaderFromSourceFile(QOpenGLShader::Vertex, ":/shaders/pointcloud.vert");
    m_shaderProgram->addShaderFromSourceFile(QOpenGLShader::Fragment, ":/shaders/pointcloud.frag");
    m_shaderProgram->link();
    
    // 启用深度测试
    glEnable(GL_DEPTH_TEST);
}

3. 顶点和片段着色器

创建两个着色器文件：

pointcloud.vert:

glsl

#version 330 core

layout(location = 0) in vec3 position;
layout(location = 1) in vec3 color;

out vec3 fragColor;

uniform mat4 model;
uniform mat4 view;
uniform mat4 projection;

void main()
{
    gl_Position = projection * view * model * vec4(position, 1.0);
    fragColor = color;
}

pointcloud.frag:

glsl

#version 330 core

in vec3 fragColor;
out vec4 outColor;

void main()
{
    outColor = vec4(fragColor, 1.0);
}

4. 加载和显示点云数据

cpp

void PointCloudViewer::loadPointCloud(const std::vector<float>& points)
{
    m_points = points;
    
    glBindVertexArray(m_vao);
    glBindBuffer(GL_ARRAY_BUFFER, m_vbo);
    glBufferData(GL_ARRAY_BUFFER, m_points.size() * sizeof(float), m_points.data(), GL_STATIC_DRAW);
    
    // 位置属性
    glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 6 * sizeof(float), (void*)0);
    glEnableVertexAttribArray(0);
    
    // 颜色属性
    glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 6 * sizeof(float), (void*)(3 * sizeof(float)));
    glEnableVertexAttribArray(1);
    
    glBindVertexArray(0);
    update();
}

void PointCloudViewer::paintGL()
{
    glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
    
    QMatrix4x4 model;
    QMatrix4x4 view;
    QMatrix4x4 projection;
    
    // 设置相机和投影矩阵
    view.lookAt(QVector3D(0, 0, 5), QVector3D(0,