detect-gui/test/point_cloud_test.py

import sys
import random
from PyQt5.QtWidgets import QApplication, QMainWindow, QOpenGLWidget
from PyQt5.QtCore import Qt, pyqtSignal, QObject
from OpenGL.GL import *
from OpenGL.GLUT import *
from OpenGL.GLU import *

class PointCloudWidget(QOpenGLWidget):
    def __init__(self, parent=None):
        super(PointCloudWidget, self).__init__(parent)
        self.point_cloud = []  # 初始化点云数据为空
        self.point_size = 5  # 点的大小

    def update_point_cloud(self, new_point_cloud):
        """更新点云数据并触发刷新"""
        self.point_cloud = new_point_cloud
        self.update()  # 触发重绘

    def initializeGL(self):
        """初始化OpenGL参数"""
        glClearColor(0.0, 0.0, 0.0, 1.0)  # 背景颜色：黑色
        glEnable(GL_DEPTH_TEST)  # 启用深度测试
        glPointSize(self.point_size)  # 设置点的大小

    def paintGL(self):
        """绘制点云"""
        glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT)  # 清除颜色和深度缓冲
        glLoadIdentity()  # 重置当前矩阵
        gluLookAt(0, 0, 5, 0, 0, 0, 0, 1, 0)  # 设置观察视角

        glBegin(GL_POINTS)  # 开始绘制点
        for point in self.point_cloud:
            x, y, z, r, g, b = point
            glColor3f(r, g, b)  # 设置点的颜色
            glVertex3f(x, y, z)  # 设置点的位置
        glEnd()  # 结束绘制

        glFlush()  # 刷新绘图

    def resizeGL(self, w, h):
        """调整窗口大小时重置视口和投影矩阵"""
        glViewport(0, 0, w, h)
        glMatrixMode(GL_PROJECTION)
        glLoadIdentity()
        gluPerspective(45.0, w / h, 1.0, 100.0)
        glMatrixMode(GL_MODELVIEW)


class PointCloudManager(QObject):
    """负责发送点云数据的管理类"""
    point_cloud_signal = pyqtSignal(list)  # 信号，用于发送点云数据

    def __init__(self):
        super().__init__()

    def generate_and_send_point_cloud(self):
        """模拟生成点云数据并通过信号发送"""
        new_point_cloud = self.generate_point_cloud(1000)  # 生成1000个随机点
        self.point_cloud_signal.emit(new_point_cloud)  # 发射信号

    def generate_point_cloud(self, num_points):
        """生成随机点云数据"""
        points = []
        for _ in range(num_points):
            x = random.uniform(-1.0, 1.0)  # X坐标
            y = random.uniform(-1.0, 1.0)  # Y坐标
            z = random.uniform(-1.0, 1.0)  # Z坐标
            r = random.random()  # 红色通道
            g = random.random()  # 绿色通道
            b = random.random()  # 蓝色通道
            points.append((x, y, z, r, g, b))
        return points


class MainWindow(QMainWindow):
    def __init__(self):
        super(MainWindow, self).__init__()
        self.setWindowTitle("PyQt5 + OpenGL 实时点云显示")
        self.setGeometry(100, 100, 800, 600)

        # 创建OpenGL显示组件
        self.gl_widget = PointCloudWidget()
        self.setCentralWidget(self.gl_widget)

        # 创建点云管理器
        self.point_cloud_manager = PointCloudManager()

        # 将信号连接到PointCloudWidget的更新槽
        self.point_cloud_manager.point_cloud_signal.connect(self.gl_widget.update_point_cloud)

        # 模拟点云数据生成与发送
        self.point_cloud_manager.generate_and_send_point_cloud()


if __name__ == '__main__':
    app = QApplication(sys.argv)
    window = MainWindow()
    window.show()
    sys.exit(app.exec_())