## 效果 ![QQ截图20220721220640.png](https://windsnowli.oss-cn-beijing.aliyuncs.com/Blog/image/articleImage/7ad15da1-08fe-11ed-8aeb-7b2462c15051) ## 头文件`GrayVirsual.h` ```cpp #pragma once #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include class GrayVirsual : public QMainWindow { Q_OBJECT public: GrayVirsual(QWidget* parent = nullptr); ~GrayVirsual(); private: pcl::visualization::PCLVisualizer::Ptr grayViewer; pcl::PointCloud::Ptr grayCloud; pcl::visualization::PCLVisualizer::Ptr hsvViewer; pcl::PointCloud::Ptr hsvCloud; pcl::visualization::PCLVisualizer::Ptr hViewer; pcl::PointCloud::Ptr hCloud; pcl::visualization::PCLVisualizer::Ptr vViewer; pcl::PointCloud::Ptr vCloud; QWidget* centralWidget; QVTKOpenGLNativeWidget* vtkWidget; void loadImage(const QString& fileName); }; ``` ## 实现`GrayVirsual.cpp` ```cpp #include "GrayVirsual.h" #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include 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); //创建标签 QLabel* label = new QLabel(this); label->setText("路径："); // 单行编辑框 QLineEdit* pathEdit = new QLineEdit(this); //设置最大高度 pathEdit->setMaximumHeight(30); // 按钮 QPushButton* pushButton = new QPushButton(this); pushButton->setText("加载"); connect(pushButton, &QPushButton::clicked, [this, pathEdit = pathEdit]() { loadImage(pathEdit->text()); }); hBoxLayout->addWidget(label); hBoxLayout->addWidget(pathEdit); hBoxLayout->addWidget(pushButton); hBoxLayout->setSpacing(10); // 设置布局最大高度 hBoxLayout->setSizeConstraint(QLayout::SetMaximumSize); //添加横向弹簧 hBoxLayout->addStretch(0); vbox->addLayout(hBoxLayout); vbox->addWidget(vtkWidget); vtkWidget->setMinimumSize({ 400,300 }); centralWidget->setLayout(vbox); grayCloud.reset(new pcl::PointCloud); hsvCloud.reset(new pcl::PointCloud); hCloud.reset(new pcl::PointCloud); vCloud.reset(new pcl::PointCloud); auto renderWindow = vtkSmartPointer::New(); auto grayRenderer = vtkSmartPointer::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::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::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::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 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", "加载图片失败"); return; } cv::Mat grayImage; cv::cvtColor(image, grayImage, cv::COLOR_BGR2GRAY); grayCloud.reset(new pcl::PointCloud); // 遍历像素 for (int i = 0; i < grayImage.rows; i++) { for (int j = 0; j < grayImage.cols; j++) { grayCloud->push_back({ static_cast(i), static_cast(j), static_cast(grayImage.at(i, j)), 255,255,255 }); } } // 点坐标同除255 for (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"); // 垂直卷积 cv::Mat vImg; cv::Mat vKernel = (cv::Mat_(3, 3) << -1, 0, 1, -1, 0, 1, -1, 0, 1); cv::filter2D(grayImage, vImg, image.depth(), vKernel); vCloud.reset(new pcl::PointCloud); // 遍历像素 for (int i = 0; i < vImg.rows; i++) { for (int j = 0; j < vImg.cols; j++) { vCloud->push_back({ static_cast(i), static_cast(j), static_cast(vImg.at(i, j)), 255,255,255 }); } } // 点坐标同除255 for (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"); // 水平卷积 cv::Mat hImg; cv::Mat hKernel = (cv::Mat_(3, 3) << -1, -1, -1, 0, 0, 0, 1, 1, 1); cv::filter2D(grayImage, hImg, image.depth(), hKernel); hCloud.reset(new pcl::PointCloud); // 遍历像素 for (int i = 0; i < hImg.rows; i++) { for (int j = 0; j < hImg.cols; j++) { hCloud->push_back({ static_cast(i), static_cast(j), static_cast(hImg.at(i, j)), 255,255,255 }); } } // 点坐标同除255 for (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; // 转为 HSV cv::cvtColor(image, hsv, cv::COLOR_BGR2HSV); cv::Mat mask; // HSV 筛选掩膜 cv::inRange(hsv, cv::Scalar{ 40, 70, 46 }, cv::Scalar{ 77, 255, 255 }, mask); // 腐蚀 cv::Mat element = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(3, 3)); cv::erode(mask, mask, element); // 与 cv::Mat mask_and; cv::bitwise_and(image, image, mask_and, mask); // 中值模糊 cv::medianBlur(mask_and, image, 3); // 转为灰度图 cv::cvtColor(image, grayImage, cv::COLOR_BGR2GRAY); hsvCloud.reset(new pcl::PointCloud); // 遍历像素 for (int i = 0; i < grayImage.rows; i++) { for (int j = 0; j < grayImage.cols; j++) { hsvCloud->push_back({ static_cast(i), static_cast(j), static_cast(grayImage.at(i, j)), 255,255,255 }); } } // 点坐标同除255 for (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"); } ```

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