Qt中使用QtDataVisualization实时绘制雷达点云三维散点图

一、Qt DataVisualization组件安装

        在Qt安装时勾选 Qt Data Visualization组件，该组件包含相关三维图形绘制组件，利用其开发三维绘图功能需要勾选。

 二、准备

 1、在项目的.pro文件中加上 QT += datavisualization

QT       += datavisualization

 2、引用头文件及名字空间

#include <QtDataVisualization>
#include <QAbstract3DInputHandler>

using namespace QtDataVisualization;

三、ui设计 

        两个按钮用于启动雷达UDP线程，接收雷达数据，一个widget用于放置三维散点图表。 

 四、头文件代码 

#ifndef MAINWINDOW_H
#define MAINWINDOW_H

#include <QMainWindow>
#include <QVector3D>
#include <QDebug>
#include <QPointF>
#include <QtDataVisualization>
#include <QAbstract3DInputHandler>
#include <QSplitter>
#include "udpthread.h"
#define PI 3.1415
typedef QVector<QVector3D> MY_BUF3D ;

using namespace QtDataVisualization;

QT_BEGIN_NAMESPACE
namespace Ui { class MainWindow; }
QT_END_NAMESPACE

class MainWindow : public QMainWindow
{
    Q_OBJECT

public:
    MainWindow(QWidget *parent = nullptr);
    ~MainWindow();

private slots:

    void on_pushButton_start_clicked();
    void on_pushButton_stop_clicked();
    void drawPoint(MY_BUF3D);

private:
    Ui::MainWindow *ui;

    void initMap();
    udpThread UDPthread;
    Q3DScatter *m_3Dgraph;
    QScatter3DSeries *m_3Dseries;//散点类型

};
#endif // MAINWINDOW_H

五、源文件代码

#include "mainwindow.h"
#include "ui_mainwindow.h"

MainWindow::MainWindow(QWidget *parent)
    : QMainWindow(parent)
    , ui(new Ui::MainWindow)
{
    ui->setupUi(this);

    qRegisterMetaType<MY_BUF3D>("MY_BUF3D");
    this->setWindowTitle("UDP_Reciver");

    initMap();
    QSplitter *splitter = new QSplitter(Qt::Horizontal);
    splitter->addWidget(ui->widget_pushButton);
    splitter->addWidget(ui->widget);
    this->setCentralWidget(splitter);

    connect(&UDPthread,SIGNAL(pointdata(MY_BUF3D)),this,SLOT(drawPoint(MY_BUF3D)));

}

MainWindow::~MainWindow()
{
    delete ui;
}

void MainWindow::initMap()
{
    m_3Dgraph = new Q3DScatter();
    ui->widget = QWidget::createWindowContainer(m_3Dgraph);
    QScatterDataProxy *proxy = new QScatterDataProxy(); //数据代理
    m_3Dseries = new QScatter3DSeries(proxy);//创建序列
    m_3Dseries->setMeshSmooth(true);

    m_3Dgraph->addSeries(m_3Dseries);
    //创建坐标轴
    m_3Dgraph->axisX()->setTitle("axis X");
    m_3Dgraph->axisX()->setTitleVisible(true);
    m_3Dgraph->axisX()->setRange(-35,60);
    m_3Dgraph->axisY()->setTitle("axis Y");
    m_3Dgraph->axisY()->setTitleVisible(true);
    m_3Dgraph->axisY()->setRange(-3,4);
    m_3Dgraph->axisZ()->setTitle("axis Z");
    m_3Dgraph->axisZ()->setTitleVisible(true);
    m_3Dgraph->axisZ()->setRange(0,35);
    m_3Dgraph->activeTheme()->setLabelBackgroundEnabled(false);
    m_3Dgraph->activeTheme()->setBackgroundColor(QColor(90,90,90));//设置背景色

    m_3Dseries->setMesh(QAbstract3DSeries::MeshSphere);//数据点为圆球
    m_3Dseries->setSingleHighlightColor(QColor(0,0,255));//设置点选中时的高亮颜色
    m_3Dseries->setBaseColor(QColor(0,255,255));//设置点的颜色
    m_3Dseries->setItemSize(0.05);//设置点的大小
}

void MainWindow::on_pushButton_start_clicked()
{
    if(!UDPthread.isRunning())
    {
        UDPthread.start();
    }
    ui->pushButton_start->setEnabled(false);
    ui->pushButton_stop->setEnabled(true);
}

void MainWindow::on_pushButton_stop_clicked()
{
    if(UDPthread.isRunning())
    {
        UDPthread.stop();
    }
    ui->pushButton_start->setEnabled(true);
    ui->pushButton_stop->setEnabled(false);
}

void MainWindow::drawPoint(MY_BUF3D points)
{
    QScatterDataArray *dataArray = new QScatterDataArray();
    dataArray->resize(points.count());
    QScatterDataItem *ptrToDataArray = &dataArray->first();
    for (int i = 0;i < points.count();i++ )
    {
        ptrToDataArray->setPosition(points[i]);
        ptrToDataArray++;
    }
    m_3Dseries->dataProxy()->resetArray(dataArray);//更新散点

}

六、效果展示

        提示：三维坐标系可以通过按住鼠标右键拖动进行任意旋转哦！刚开始使用时用左键拖了半天没有反应，都准备自己写鼠标事件来实现这个功能了，还好后面机智，哈哈哈。。。

七、最后 

        后续将分享QT + VS2019 + PCL + VTK的环境搭建，利用QVTKWidget绘制PCL电压的相关内容。

        新人上路，谢谢关注！

        1.想了解二维散点图请参考本人前面文章：

        Qt中使用QtCharts实时绘制雷达点云散点图

        2.PCL绘制实时点云请参考后面文章：

        QT+VS2019+PCL实时绘制激光雷达点云