namespace mypcl
{
/**
* @brief The PCLControler class PCL 控制器，用于控制PCL经典操作，如旋转，放缩，平移。使用时必须先
调用setViewer
函数，最后必须
调用render
函数
*/
class PCLControler
: public common
::Singleton<PCLControler>
{
friend class common
::Singleton<PCLControler>;
private:
pcl
::v
isualization
::PCLV
isualizer
::Ptr viewer;
public
:
enum Ax
is
{
X,Y,Z
};
private:
private:
explicit PCLControler(
QObject *parent = nullptr
);
public
:
~PCLControler(
);
PCLControler(
const PCLControler&
) = delete;
PCLControler&
operator=(const PCLControler&
) = delete;
PCLControler& setViewer(
const pcl
::v
isualization
::PCLV
isualizer
::Ptr &viewer
);
/**
* @brief zoom pcl点云图放大，缩小
* @param factor 放缩因子, 大于1，放大; 小于1，缩小
*/
PCLControler& zoom(double factor
);
/**
* @brief translateToTargetPoint 平移到目标点
* @param targetX 目标点X坐标
* @param targetY 目标点Y坐标
* @param targetZ 目标点Z坐标
*/
PCLControler& translateToTargetPoint(double targetX, double targetY, double targetZ
);
/**
* @brief rotateCloud 旋转点云
* @param angleDegrees 旋转角度
* @param ax
is 旋转轴
*/
PCLControler& rotateCloud(double angleDegrees = -45.0, Ax
is ax
is = X
);
/**
* @brief resetViewer 重置点云视口，恢复到默认
* @param cloud_namn 点云名字
* @return
*/
PCLControler& resetViewer(
const QString &cloud_namn
);
/**
* @brief view 点云图视图，根据传入的值，显示不同视图
* @param pos_x
* @param pos_y
* @param pos_z
* @param view_x
* @param view_y
* @param view_z
* @param up_x
* @param up_y
* @param up_z
* @return
*/
PCLControler& view(double pos_x, double pos_y, double pos_z,
double view_x, double view_y, double view_z,
double up_x, double up_y, double up_z
);
/**
* @brief render 强制渲染
* @return
*/
PCLControler& render(
);
};
class PCDLoader
: public QThread
{
Q_OBJECT
private:
explicit PCDLoader(
QObject* parent=nullptr
);
private:
pcl
::PointCloud<pcl
::PointXYZ>
::Ptr m_cloud;
QString m_pcdFileName;
public
:
static PCDLoader& instance(
);
signals
:
void startLoadLCD(
);
void loadPCDFileSucessed(
);
void loadPCDFileFin
ished(
const pcl
::PointCloud<pcl
::PointXYZ>
::Ptr& cloud
);
void loadPCDFileFailed(
);
public
:
const pcl
::PointCloud<pcl
::PointXYZ>
::Ptr& cloud(
) const;
public slots
:
void startLoader(
const QString& pcdFileName
);
private:
friend class QSharedPointer<PCDLoader>;
// QThread interface
protected
:
void run(
) override;
};
class PCDAttribute
: public QThread
{
Q_OBJECT
private:
explicit PCDAttribute(
QObject* parent=nullptr
);
private:
pcl
::PointCloud<pcl
::PointXYZ>
::Ptr m_cloud;
// 点云中心点
Eigen
::Vector4f m_centroid;
// 点云边界
pcl
::PointXYZ m_minPt, m_maxPt;
public
:
static PCDAttribute& instance(
);
signals
:
void attriComputed(
);
public
:
const Eigen
::Vector4f& centroid(
) const;
const pcl
::PointXYZ& minPt(
) const;
const pcl
::PointXYZ& maxPt(
) const;
public slots
:
void startComputeAttri(
const pcl
::PointCloud<pcl
::PointXYZ>
::Ptr& cloud
);
private:
friend class QSharedPointer<PCDAttribute>;
// QThread interface
protected
:
void run(
) override;
};
}
注释上述代码
本文详细解析了在Qt编程中遇到的对象复制错误，解释了为何直接使用赋值操作符会引发编译错误，并提供了正确的对象实例化方法。
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