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registration_qt.py
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registration_qt.py
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import sys
from PyQt5.QtWidgets import (
QApplication, QMainWindow, QPushButton, QVBoxLayout, QHBoxLayout,
QWidget, QFileDialog, QLabel, QGridLayout, QDoubleSpinBox, QGroupBox
)
from PyQt5.QtGui import QPixmap, QFont
from PyQt5.QtCore import Qt
import open3d as o3d
import numpy as np
import matplotlib.pyplot as plt
class PointCloudRegistrationApp(QMainWindow):
def __init__(self):
super().__init__()
self.source_cloud = None
self.target_cloud = None
self.transformation = None
self.initUI()
self.generate_random_point_clouds()
self.display_random_transformation()
def initUI(self):
self.setWindowTitle('点云配准算法可视化界面')
self.setGeometry(100, 100, 1400, 900)
central_widget = QWidget()
self.setCentralWidget(central_widget)
main_layout = QHBoxLayout(central_widget)
# 左侧布局：点云显示和加载
left_layout = QVBoxLayout()
# 标题
title_label = QLabel('点云配准算法可视化界面')
title_label.setFont(QFont('Arial', 20, QFont.Bold))
title_label.setAlignment(Qt.AlignCenter)
left_layout.addWidget(title_label)
# 点云显示
point_cloud_display_group = QGroupBox('点云显示')
point_cloud_display_layout = QHBoxLayout()
self.target_cloud_display = QLabel()
self.source_cloud_display = QLabel()
self.target_cloud_display.setFixedSize(400, 400)
self.source_cloud_display.setFixedSize(400, 400)
point_cloud_display_layout.addWidget(self.target_cloud_display)
point_cloud_display_layout.addWidget(self.source_cloud_display)
point_cloud_display_group.setLayout(point_cloud_display_layout)
left_layout.addWidget(point_cloud_display_group)
# 加载按钮
load_buttons_group = QGroupBox('加载点云')
load_buttons_layout = QHBoxLayout()
self.load_target_button = QPushButton('导入目标点云')
self.load_source_button = QPushButton('导入源点云')
self.load_target_button.clicked.connect(self.load_target_cloud)
self.load_source_button.clicked.connect(self.load_source_cloud)
load_buttons_layout.addWidget(self.load_target_button)
load_buttons_layout.addWidget(self.load_source_button)
load_buttons_group.setLayout(load_buttons_layout)
left_layout.addWidget(load_buttons_group)
# 处理和配准选项
options_group = QGroupBox('处理和配准选项')
options_layout = QGridLayout()
self.target_voxel_size_spinbox = QDoubleSpinBox()
self.target_voxel_size_spinbox.setValue(2.0)
self.target_max_z_spinbox = QDoubleSpinBox()
self.target_max_z_spinbox.setValue(450)
self.target_min_z_spinbox = QDoubleSpinBox()
self.target_min_z_spinbox.setValue(390)
options_layout.addWidget(QLabel('体素化网格大小:'), 0, 0)
options_layout.addWidget(self.target_voxel_size_spinbox, 0, 1)
options_layout.addWidget(QLabel('Zmax:'), 1, 0)
options_layout.addWidget(self.target_max_z_spinbox, 1, 1)
options_layout.addWidget(QLabel('Zmin:'), 2, 0)
options_layout.addWidget(self.target_min_z_spinbox, 2, 1)
self.manual_registration_button = QPushButton('手动配准')
self.automatic_registration_button = QPushButton('自动配准')
self.manual_registration_button.clicked.connect(self.manual_registration)
self.automatic_registration_button.clicked.connect(self.automatic_registration)
options_layout.addWidget(self.manual_registration_button, 3, 0, 1, 2)
options_layout.addWidget(self.automatic_registration_button, 4, 0, 1, 2)
self.visualize_registration_button = QPushButton('可视化配准')
self.visualize_registration_button.clicked.connect(self.visualize_registration)
options_layout.addWidget(self.visualize_registration_button, 5, 0, 1, 2)
options_group.setLayout(options_layout)
left_layout.addWidget(options_group)
main_layout.addLayout(left_layout)
# 右侧布局：配准结果
right_layout = QVBoxLayout()
results_group = QGroupBox('配准结果')
results_layout = QVBoxLayout()
self.result_label = QLabel('配准结果:')
self.result_label.setFont(QFont('Arial', 12))
self.transformation_matrix_label = QLabel('变换矩阵:')
self.transformation_matrix_label.setFont(QFont('Arial', 12))
self.rotation_matrix_label = QLabel('旋转矩阵 R:')
self.rotation_matrix_label.setFont(QFont('Arial', 12))
self.translation_vector_label = QLabel('平移向量 t:')
self.translation_vector_label.setFont(QFont('Arial', 12))
results_layout.addWidget(self.result_label)
results_layout.addWidget(self.transformation_matrix_label)
results_layout.addWidget(self.rotation_matrix_label)
results_layout.addWidget(self.translation_vector_label)
results_group.setLayout(results_layout)
right_layout.addWidget(results_group)
main_layout.addLayout(right_layout)
def generate_random_point_clouds(self):
self.target_cloud = self.create_random_point_cloud()
self.source_cloud = self.create_random_point_cloud()
self.update_cloud_display(self.target_cloud, self.target_cloud_display)
self.update_cloud_display(self.source_cloud, self.source_cloud_display)
def create_random_point_cloud(self, num_points=1000):
points = np.random.rand(num_points, 3)
cloud = o3d.geometry.PointCloud()
cloud.points = o3d.utility.Vector3dVector(points)
cloud.paint_uniform_color([1, 0, 0]) # 设置点云颜色为红色
return cloud
def load_target_cloud(self):
options = QFileDialog.Options()
file_name, _ = QFileDialog.getOpenFileName(self, "选择目标点云文件", "", "Point Cloud Files (*.ply *.pcd *.xyz *.bin)", options=options)
if file_name:
self.target_cloud = self.read_point_cloud(file_name)
self.update_cloud_display(self.target_cloud, self.target_cloud_display)
print("目标点云加载成功!")
def load_source_cloud(self):
options = QFileDialog.Options()
file_name, _ = QFileDialog.getOpenFileName(self, "选择源点云文件", "", "Point Cloud Files (*.ply *.pcd *.xyz *.bin)", options=options)
if file_name:
self.source_cloud = self.read_point_cloud(file_name)
self.update_cloud_display(self.source_cloud, self.source_cloud_display)
print("源点云加载成功!")
def read_point_cloud(self, file_name):
if file_name.endswith('.bin'):
return self.read_bin_point_cloud(file_name)
else:
cloud = o3d.io.read_point_cloud(file_name)
cloud.paint_uniform_color([1, 0, 0]) # 设置点云颜色为红色
return cloud
def read_bin_point_cloud(self, file_name):
points = np.fromfile(file_name, dtype=np.float32).reshape(-1, 4)
cloud = o3d.geometry.PointCloud()
cloud.points = o3d.utility.Vector3dVector(points[:, :3])
cloud.paint_uniform_color([1, 0, 0]) # 设置点云颜色为红色
return cloud
def update_cloud_display(self, cloud, display_label):
vis = o3d.visualization.Visualizer()
vis.create_window(visible=False)
vis.add_geometry(cloud)
vis.poll_events()
vis.update_renderer()
image = vis.capture_screen_float_buffer(True)
vis.destroy_window()
plt.imshow(np.asarray(image))
plt.axis('off')
plt.savefig("temp.png")
plt.close()
pixmap = QPixmap("temp.png")
display_label.setPixmap(pixmap.scaled(display_label.size(), aspectRatioMode=Qt.KeepAspectRatio))
def display_random_transformation(self):
random_transformation = self.create_random_transformation()
self.transformation_matrix_label.setText(f'随机变换矩阵:\n{random_transformation}')
self.rotation_matrix_label.setText(f'旋转矩阵 R:\n{random_transformation[:3, :3]}')
self.translation_vector_label.setText(f'平移向量 t:\n{random_transformation[:3, 3]}')
def create_random_transformation(self):
random_transformation = np.eye(4)
random_transformation[:3, :3] = np.random.rand(3, 3)
random_transformation[:3, 3] = np.random.rand(3)
return random_transformation
def manual_registration(self):
print("手动配准功能待实现")
def automatic_registration(self):
if self.source_cloud and self.target_cloud:
threshold = 0.02
trans_init = np.identity(4)
reg_p2p = o3d.pipelines.registration.registration_icp(
self.source_cloud, self.target_cloud, threshold, trans_init,
o3d.pipelines.registration.TransformationEstimationPointToPoint())
self.transformation = reg_p2p.transformation
self.result_label.setText(f'配准结果: \n配准精度: {reg_p2p.inlier_rmse:.4f}')
self.transformation_matrix_label.setText(f'变换矩阵:\n{self.transformation}')
self.rotation_matrix_label.setText(f'旋转矩阵 R:\n{self.transformation[:3, :3]}')
self.translation_vector_label.setText(f'平移向量 t:\n{self.transformation[:3, 3]}')
print("点云自动配准完成!")
def visualize_registration(self):
if self.source_cloud and self.target_cloud and self.transformation is not None:
source_temp = self.source_cloud.transform(self.transformation)
o3d.visualization.draw_geometries([source_temp, self.target_cloud])
if __name__ == '__main__':
app = QApplication(sys.argv)
ex = PointCloudRegistrationApp()
ex.show()
sys.exit(app.exec_())