PyQt显示点云

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已于 2024-10-08 00:15:20 修改

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分类专栏： # PyQt 文章标签： python pyqt open3d python-pcl vtk 点云可视化

于 2023-01-14 19:36:14 首次发布

本文链接：https://blog.youkuaiyun.com/taifyang/article/details/128688265

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这篇文章展示了如何在PyQt界面中利用GLViewWidget和VTK库来显示点云数据。提供了两个示例，一个是使用PyQt+GLViewWidget通过open3d库读取和显示点云，另一个是使用PyQt+VTK，通过VTK的接口处理和显示点云，强调了VTK在功能上的丰富性。

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PyQt+GLViewWidget显示点云

import sys
import numpy as np
import pyqtgraph.opengl as gl
from PyQt5.QtWidgets import *
from pyqtgraph.opengl import GLViewWidget


class DemoWidget(QWidget):
    def __init__(self, parent=None):
        super(DemoWidget, self).__init__(parent)
        self.graphicsView = GLViewWidget(self)
        self.pushButton = QPushButton(self)
        self.pushButton.setText("打开点云")
        self.pushButton.clicked.connect(self.show_cloud)
        self.verticalLayout = QVBoxLayout(self)
        self.verticalLayout.addWidget(self.graphicsView)
        self.verticalLayout.addWidget(self.pushButton)
        self.setLayout(self.verticalLayout)

    def show_cloud(self):
        fileName, filetype = QFileDialog.getOpenFileName(self, "请选择点云：", '.', "cloud Files(*pcd *ply)")
        if fileName != '':   
            import open3d as o3d       
            pcd = o3d.io.read_point_cloud(fileName)
            # import pcl
            # pcd = pcl.load(fileName) 
            np_points = np.asarray(pcd.points)                                          #获取numpy数组          
            plot = gl.GLScatterPlotItem()                                               #创建显示对象            
            plot.setData(pos=np_points, color=(1, 1, 1, 1), size=0.001, pxMode=False)   #设置显示数据
            self.graphicsView.addItem(plot)                                             #显示点云


if __name__ == '__main__':
    app = QApplication(sys.argv)
    window = DemoWidget()
    window.resize(800, 600)
    window.show()
    sys.exit(app.exec_())

PyQt+vtk显示点云

import sys
import vtk
import numpy as np
from PyQt5.QtWidgets import *
from vtkmodules.qt.QVTKRenderWindowInteractor import QVTKRenderWindowInteractor
from vtkmodules.util.numpy_support import numpy_to_vtk
 
 
class VTKWidget(QVTKRenderWindowInteractor):
    def __init__(self, parent=None):
        super(VTKWidget, self).__init__(parent)
        self.Initialize()  # 初始化VTK渲染窗口
        self.Start()  # 开始渲染循环
        self.GetRenderWindow().GetInteractor().SetInteractorStyle(vtk.vtkInteractorStyleTrackballCamera())
        self.renderer = vtk.vtkRenderer()  # 创建渲染器和渲染窗口
        self.GetRenderWindow().AddRenderer(self.renderer)
    
    def show_cloud(self, cloud):
        points = vtk.vtkPoints()
        points.SetData(numpy_to_vtk(np.asarray(cloud.points)))
        polydata = vtk.vtkPolyData()
        polydata.SetPoints(points)  # 设置点坐标
        vertex = vtk.vtkVertexGlyphFilter()
        vertex.SetInputData(polydata)
        mapper = vtk.vtkPolyDataMapper()
        mapper.SetInputConnection(vertex.GetOutputPort())
        actor = vtk.vtkActor()
        actor.SetMapper(mapper)
        self.renderer.AddActor(actor) # 将点云添加到渲染器中
        self.renderer.ResetCamera()
 
 
class DemoWidget(QWidget):
    def __init__(self, parent=None):
        super(DemoWidget, self).__init__(parent)       
        self.pushButton = QPushButton(self)
        self.pushButton.setText("打开点云")
        self.pushButton.clicked.connect(self.show_cloud)
        self.verticalLayout = QVBoxLayout(self)
        self.vtk_widget = VTKWidget()
        self.verticalLayout.addWidget(self.vtk_widget)
        self.verticalLayout.addWidget(self.pushButton)
        self.setLayout(self.verticalLayout)
        
    def show_cloud(self):
        fileName, filetype = QFileDialog.getOpenFileName(self, "请选择点云：", '.', "cloud Files(*pcd *ply)")
        if fileName != '':          
            import open3d as o3d       
            pcd = o3d.io.read_point_cloud(fileName)
            # import pcl
            # pcd = pcl.load(fileName)         
            self.vtk_widget.show_cloud(pcd)
 
 
if __name__ == "__main__":
    app = QApplication(sys.argv)
    window = DemoWidget()
    window.resize(800, 600)
    window.show()
    sys.exit(app.exec_())

其中点云的读取可以使用open3d或者pcl库，只有导包以及读取代码的差别（见注释部分）。
vtk比opengl 的实现复杂一些，但是vtk的接口功能更加丰富（vtk是基于opengl开发的）。
在这里插入图片描述

PyQt+open3d 显示点云

import sys
import win32gui
import open3d as o3d
from PyQt5.QtWidgets import *
from PyQt5.QtGui import QWindow
from PyQt5.QtCore import QTimer


class DemoWidget(QWidget):
    def __init__(self, parent=None):
        super(DemoWidget, self).__init__(parent)
        self.vis = o3d.visualization.Visualizer()
        self.vis.create_window(visible=False) 
        self.winid = win32gui.FindWindow('GLFW30', None)
        self.sub_window = QWindow.fromWinId(self.winid)
        self.displayer = QWidget.createWindowContainer(self.sub_window)
        self.clock = QTimer(self)
        self.clock.timeout.connect(self.draw_update)
        self.clock.start(20)
        self.pushButton = QPushButton(self)
        self.pushButton.setText("打开点云")
        self.pushButton.clicked.connect(self.show_cloud)
        self.verticalLayout = QVBoxLayout(self)
        self.verticalLayout.addWidget(self.displayer)
        self.verticalLayout.addWidget(self.pushButton)
        self.setLayout(self.verticalLayout)

    def show_cloud(self):
        fileName, filetype = QFileDialog.getOpenFileName(self, "请选择点云：", '.', "cloud Files(*pcd *ply)")
        if fileName != '':   
            import open3d as o3d       
            pcd = o3d.io.read_point_cloud(fileName)
            self.vis.add_geometry(pcd)
            self.vis.update_geometry(pcd)
            
    def draw_update(self):
        self.vis.poll_events()
        self.vis.update_renderer()


if __name__ == '__main__':
    app = QApplication(sys.argv)
    window = DemoWidget()
    window.resize(800, 600)
    window.show()
    sys.exit(app.exec_())