fix:图像显示修复触摸屏下放大缩小问题
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7225f03ded
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76b63103af
@ -620,6 +620,11 @@ void PointCloudGLWidget::drawPrimitives(const QMatrix4x4& mvp,
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glUniformMatrix4fv(m_mvpLocation, 1, GL_FALSE, mvp.constData());
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glUniform1f(m_pointSizeLocation, pointSize);
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glUniform1f(m_alphaLocation, alpha);
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if (!m_dynamicVbo.isCreated())
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{
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m_dynamicVbo.create();
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}
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m_dynamicVbo.setUsagePattern(QOpenGLBuffer::DynamicDraw);
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if (depthTest) {
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glEnable(GL_DEPTH_TEST);
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} else {
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@ -2889,6 +2894,7 @@ void PointCloudGLWidget::clearBasicShapeSegments()
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void PointCloudGLWidget::addPosePoints(const QVector<PosePoint>& poses)
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{
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m_posePoints.append(poses);
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computeBoundingBox();
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update();
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}
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@ -2993,66 +2999,138 @@ void PointCloudGLWidget::drawLineSegmentList(const QVector<LineSegment>& segment
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void PointCloudGLWidget::drawPosePoints()
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{
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if (m_posePoints.isEmpty()) {
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if (m_posePoints.isEmpty())
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{
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return;
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}
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glLineWidth(2.0f);
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// 从视图矩阵取相机右/上方向，把轴线拉成面向屏幕的窄带，避免 GLES2 线宽被钳成 1 像素。
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const QMatrix4x4 invView = m_view.inverted();
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const QVector3D camRight = invView.column(0).toVector3D().normalized();
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const QVector3D camUp = invView.column(1).toVector3D().normalized();
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const float pixelWorld = m_distance *
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std::tan(qDegreesToRadians(22.5f)) /
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static_cast<float>(qMax(1, height() / 2));
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for (const auto& pose : m_posePoints) {
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// 移动到姿态点位置，并按欧拉角顺序旋转（QMatrix4x4::rotate 与 glRotatef 同为右乘）
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QMatrix4x4 modelView;
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modelView.setToIdentity();
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modelView.translate(pose.x, pose.y, pose.z);
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switch (m_eulerRotationOrder) {
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case EulerRotationOrder::ZYX: // Yaw-Pitch-Roll（最常用）
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modelView.rotate(pose.rx, 1, 0, 0);
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modelView.rotate(pose.ry, 0, 1, 0);
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modelView.rotate(pose.rz, 0, 0, 1);
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auto applyEulerRotation = [this](QMatrix4x4& poseLocal, const PosePoint& pose)
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{
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switch (m_eulerRotationOrder)
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{
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case EulerRotationOrder::ZYX:
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poseLocal.rotate(pose.rx, 1, 0, 0);
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poseLocal.rotate(pose.ry, 0, 1, 0);
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poseLocal.rotate(pose.rz, 0, 0, 1);
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break;
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case EulerRotationOrder::XYZ: // Roll-Pitch-Yaw
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modelView.rotate(pose.rz, 0, 0, 1);
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modelView.rotate(pose.ry, 0, 1, 0);
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modelView.rotate(pose.rx, 1, 0, 0);
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case EulerRotationOrder::XYZ:
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poseLocal.rotate(pose.rz, 0, 0, 1);
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poseLocal.rotate(pose.ry, 0, 1, 0);
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poseLocal.rotate(pose.rx, 1, 0, 0);
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break;
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case EulerRotationOrder::ZXY: // Yaw-Roll-Pitch
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modelView.rotate(pose.ry, 0, 1, 0);
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modelView.rotate(pose.rx, 1, 0, 0);
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modelView.rotate(pose.rz, 0, 0, 1);
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case EulerRotationOrder::ZXY:
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poseLocal.rotate(pose.ry, 0, 1, 0);
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poseLocal.rotate(pose.rx, 1, 0, 0);
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poseLocal.rotate(pose.rz, 0, 0, 1);
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break;
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case EulerRotationOrder::YXZ: // Pitch-Roll-Yaw
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modelView.rotate(pose.rz, 0, 0, 1);
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modelView.rotate(pose.rx, 1, 0, 0);
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modelView.rotate(pose.ry, 0, 1, 0);
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case EulerRotationOrder::YXZ:
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poseLocal.rotate(pose.rz, 0, 0, 1);
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poseLocal.rotate(pose.rx, 1, 0, 0);
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poseLocal.rotate(pose.ry, 0, 1, 0);
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break;
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case EulerRotationOrder::XZY: // Roll-Yaw-Pitch
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modelView.rotate(pose.ry, 0, 1, 0);
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modelView.rotate(pose.rz, 0, 0, 1);
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modelView.rotate(pose.rx, 1, 0, 0);
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case EulerRotationOrder::XZY:
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poseLocal.rotate(pose.ry, 0, 1, 0);
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poseLocal.rotate(pose.rz, 0, 0, 1);
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poseLocal.rotate(pose.rx, 1, 0, 0);
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break;
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case EulerRotationOrder::YZX: // Pitch-Yaw-Roll
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modelView.rotate(pose.rx, 1, 0, 0);
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modelView.rotate(pose.rz, 0, 0, 1);
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modelView.rotate(pose.ry, 0, 1, 0);
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case EulerRotationOrder::YZX:
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poseLocal.rotate(pose.rx, 1, 0, 0);
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poseLocal.rotate(pose.rz, 0, 0, 1);
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poseLocal.rotate(pose.ry, 0, 1, 0);
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break;
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}
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const QMatrix4x4 mvp = m_projection * modelView;
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// 绘制坐标系（右手坐标系：X红右，Y绿上，Z蓝前）
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const float positions[] = {
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0.0f, 0.0f, 0.0f, pose.scale, 0.0f, 0.0f, // X轴 - 红色
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0.0f, 0.0f, 0.0f, 0.0f, pose.scale, 0.0f, // Y轴 - 绿色
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0.0f, 0.0f, 0.0f, 0.0f, 0.0f, pose.scale // Z轴 - 蓝色
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};
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const float colors[] = {
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1.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f,
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0.0f, 1.0f, 0.0f, 0.0f, 1.0f, 0.0f,
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0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 1.0f
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auto appendWorld = [](QVector<float>& dst, const QVector3D& p)
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{
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dst.append(p.x());
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dst.append(p.y());
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dst.append(p.z());
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};
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drawPrimitives(mvp, positions, 6, GL_LINES, colors,
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QVector3D(1.0f, 1.0f, 1.0f), 1.0f, 1.0f, true);
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auto appendAxisBand = [&](QVector<float>& positions,
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QVector<float>& colors,
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const QVector3D& start,
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const QVector3D& end,
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const QVector3D& color,
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float halfWidth)
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{
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QVector3D side = QVector3D::crossProduct(end - start, camUp);
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if (side.lengthSquared() < 1.0e-12f)
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{
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side = QVector3D::crossProduct(end - start, camRight);
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}
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if (!side.isNull())
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{
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side.normalize();
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side *= halfWidth;
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}
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const QVector3D s0 = start - side;
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const QVector3D s1 = start + side;
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const QVector3D e0 = end - side;
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const QVector3D e1 = end + side;
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const QVector3D quad[6] = {s0, e0, e1, s0, e1, s1};
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for (const QVector3D& p : quad)
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{
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appendWorld(positions, p);
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appendWorld(colors, color);
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}
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};
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glLineWidth(1.0f);
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for (const auto& pose : m_posePoints)
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{
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QMatrix4x4 poseLocal;
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poseLocal.setToIdentity();
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poseLocal.translate(pose.x, pose.y, pose.z);
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applyEulerRotation(poseLocal, pose);
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const float axisLength = qMax(1.0f, pose.scale);
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const QVector3D origin = poseLocal.map(QVector3D(0.0f, 0.0f, 0.0f));
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const QVector3D xEnd = poseLocal.map(QVector3D(axisLength, 0.0f, 0.0f));
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const QVector3D yEnd = poseLocal.map(QVector3D(0.0f, axisLength, 0.0f));
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const QVector3D zEnd = poseLocal.map(QVector3D(0.0f, 0.0f, axisLength));
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const float halfWidth = qMax(axisLength * 0.02f, pixelWorld * 2.0f);
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QVector<float> bandPositions;
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QVector<float> bandColors;
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bandPositions.reserve(54);
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bandColors.reserve(54);
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appendAxisBand(bandPositions, bandColors, origin, xEnd, QVector3D(1.0f, 0.0f, 0.0f), halfWidth);
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appendAxisBand(bandPositions, bandColors, origin, yEnd, QVector3D(0.0f, 1.0f, 0.0f), halfWidth);
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appendAxisBand(bandPositions, bandColors, origin, zEnd, QVector3D(0.0f, 0.0f, 1.0f), halfWidth);
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// 关闭深度测试，避免姿态轴被周围点云挡住。
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drawPrimitives(m_mvp,
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bandPositions.constData(),
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bandPositions.size() / 3,
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GL_TRIANGLES,
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bandColors.constData(),
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QVector3D(1.0f, 1.0f, 1.0f),
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1.0f,
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1.0f,
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false);
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const float tipPositions[] = {
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origin.x(), origin.y(), origin.z(),
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xEnd.x(), xEnd.y(), xEnd.z(),
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yEnd.x(), yEnd.y(), yEnd.z(),
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zEnd.x(), zEnd.y(), zEnd.z()
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};
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const float tipColors[] = {
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1.0f, 1.0f, 1.0f,
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1.0f, 0.0f, 0.0f,
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0.0f, 1.0f, 0.0f,
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0.0f, 0.0f, 1.0f
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};
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drawPrimitives(m_mvp, tipPositions, 4, GL_POINTS, tipColors,
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QVector3D(1.0f, 1.0f, 1.0f), 10.0f, 1.0f, false);
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}
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}
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@ -6,9 +6,12 @@
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#include <Qt>
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class QLabel;
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class QEvent;
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class QGestureEvent;
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class QGraphicsPixmapItem;
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class QGraphicsScene;
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class QMouseEvent;
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class QPinchGesture;
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class QWheelEvent;
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// 可缩放、可平移的图片显示控件。
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@ -48,6 +51,7 @@ signals:
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void zoomRatioChanged(double ratio);
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protected:
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bool viewportEvent(QEvent* event) override;
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void resizeEvent(QResizeEvent* event) override;
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void wheelEvent(QWheelEvent* event) override;
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void mousePressEvent(QMouseEvent* event) override;
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@ -56,8 +60,11 @@ protected:
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void mouseDoubleClickEvent(QMouseEvent* event) override;
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private:
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bool handleGestureEvent(QGestureEvent* event);
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void handlePinchGesture(QPinchGesture* gesture);
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void updateZoomLabel();
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void updateZoomRatio(double ratio, bool keepCenter);
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void updateZoomRatioAt(double ratio, const QPoint& viewportAnchor);
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void repositionZoomLabel();
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QGraphicsScene* m_scene;
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@ -69,6 +76,8 @@ private:
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double m_maximumZoomRatio;
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Qt::Alignment m_imageAlignment;
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bool m_panning;
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bool m_pinching;
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bool m_needsInitialFit;
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double m_pinchStartZoomRatio;
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QPoint m_lastMousePosition;
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};
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@ -1,19 +1,24 @@
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#include "ImageView.h"
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#include <QEvent>
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#include <QGestureEvent>
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#include <QGraphicsPixmapItem>
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#include <QGraphicsScene>
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#include <QLabel>
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#include <QMouseEvent>
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#include <QPinchGesture>
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#include <QResizeEvent>
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#include <QtWidgets/QScrollBar>
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#include <QStyle>
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#include <QWheelEvent>
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#include <QtMath>
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namespace {
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namespace
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{
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constexpr double kDefaultMinimumZoom = 0.02;
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constexpr double kDefaultMaximumZoom = 20.0;
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constexpr double kZoomStep = 1.25;
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const QColor kDefaultBackgroundColor(37, 38, 42);
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}
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ImageView::ImageView(QWidget* parent)
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@ -26,10 +31,12 @@ ImageView::ImageView(QWidget* parent)
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m_maximumZoomRatio(kDefaultMaximumZoom),
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m_imageAlignment(Qt::AlignCenter),
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m_panning(false),
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m_needsInitialFit(false)
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m_pinching(false),
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m_needsInitialFit(false),
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m_pinchStartZoomRatio(1.0)
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{
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setScene(m_scene);
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setBackgroundBrush(QColor(35, 35, 35));
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setBackgroundBrush(kDefaultBackgroundColor);
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setFrameShape(QFrame::NoFrame);
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setHorizontalScrollBarPolicy(Qt::ScrollBarAsNeeded);
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setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded);
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@ -39,6 +46,10 @@ ImageView::ImageView(QWidget* parent)
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setDragMode(QGraphicsView::NoDrag);
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setCursor(Qt::OpenHandCursor);
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// 手势由 QGraphicsView 的视口接收，支持触摸屏双指捏合缩放。
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viewport()->setAttribute(Qt::WA_AcceptTouchEvents, true);
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viewport()->grabGesture(Qt::PinchGesture);
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m_zoomLabel->setObjectName(QStringLiteral("imageViewZoomLabel"));
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m_zoomLabel->setAlignment(Qt::AlignCenter);
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m_zoomLabel->setMinimumWidth(58);
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@ -197,6 +208,65 @@ Qt::Alignment ImageView::imageAlignment() const
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return m_imageAlignment;
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}
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bool ImageView::viewportEvent(QEvent* event)
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{
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if (event->type() == QEvent::Gesture)
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{
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return handleGestureEvent(static_cast<QGestureEvent*>(event));
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}
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return QGraphicsView::viewportEvent(event);
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}
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bool ImageView::handleGestureEvent(QGestureEvent* event)
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{
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QGesture* gesture = event->gesture(Qt::PinchGesture);
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if (!gesture)
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{
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return false;
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}
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QPinchGesture* pinchGesture = static_cast<QPinchGesture*>(gesture);
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handlePinchGesture(pinchGesture);
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event->accept(pinchGesture);
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return true;
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}
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void ImageView::handlePinchGesture(QPinchGesture* gesture)
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{
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if (!gesture)
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{
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return;
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}
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if (gesture->state() == Qt::GestureStarted)
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{
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// 双指手势开始后停止单指模拟产生的鼠标拖拽。
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m_pinching = true;
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m_panning = false;
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m_pinchStartZoomRatio = m_zoomRatio;
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setCursor(Qt::OpenHandCursor);
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}
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if (hasImage() &&
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(gesture->state() == Qt::GestureStarted || gesture->state() == Qt::GestureUpdated))
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{
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const double scaleFactor = gesture->totalScaleFactor();
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if (qIsFinite(scaleFactor) && scaleFactor > 0.0)
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{
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// 使用累计缩放比例，避免连续事件带来的比例漂移。
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updateZoomRatioAt(m_pinchStartZoomRatio * scaleFactor,
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gesture->centerPoint().toPoint());
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}
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}
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if (gesture->state() == Qt::GestureFinished ||
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gesture->state() == Qt::GestureCanceled)
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{
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m_pinching = false;
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setCursor(Qt::OpenHandCursor);
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}
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}
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void ImageView::resizeEvent(QResizeEvent* event)
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{
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QGraphicsView::resizeEvent(event);
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@ -221,6 +291,11 @@ void ImageView::wheelEvent(QWheelEvent* event)
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void ImageView::mousePressEvent(QMouseEvent* event)
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{
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if (m_pinching)
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{
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event->accept();
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return;
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}
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if (event->button() == Qt::LeftButton && hasImage()) {
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m_panning = true;
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m_lastMousePosition = event->pos();
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@ -233,6 +308,11 @@ void ImageView::mousePressEvent(QMouseEvent* event)
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void ImageView::mouseMoveEvent(QMouseEvent* event)
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{
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if (m_pinching)
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{
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event->accept();
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return;
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}
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if (m_panning) {
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const QPoint delta = event->pos() - m_lastMousePosition;
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m_lastMousePosition = event->pos();
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@ -246,6 +326,11 @@ void ImageView::mouseMoveEvent(QMouseEvent* event)
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void ImageView::mouseReleaseEvent(QMouseEvent* event)
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{
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if (m_pinching)
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{
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event->accept();
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return;
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}
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if (event->button() == Qt::LeftButton && m_panning) {
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m_panning = false;
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setCursor(Qt::OpenHandCursor);
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@ -300,6 +385,34 @@ void ImageView::updateZoomRatio(double ratio, bool keepCenter)
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emit zoomRatioChanged(m_zoomRatio);
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}
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void ImageView::updateZoomRatioAt(double ratio, const QPoint& viewportAnchor)
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{
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if (!hasImage())
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{
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return;
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}
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ratio = qBound(m_minimumZoomRatio, ratio, m_maximumZoomRatio);
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if (qFuzzyCompare(ratio, m_zoomRatio) && !transform().isIdentity())
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{
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return;
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}
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// 缩放前后保持双指中心对应同一个图像位置。
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const QPointF sceneAnchor = mapToScene(viewportAnchor);
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resetTransform();
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scale(ratio, ratio);
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m_zoomRatio = ratio;
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const QPointF mappedAnchor = mapFromScene(sceneAnchor);
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const QPointF viewportDelta = mappedAnchor - viewportAnchor;
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horizontalScrollBar()->setValue(
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horizontalScrollBar()->value() + qRound(viewportDelta.x()));
|
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verticalScrollBar()->setValue(
|
||||
verticalScrollBar()->value() + qRound(viewportDelta.y()));
|
||||
updateZoomLabel();
|
||||
emit zoomRatioChanged(m_zoomRatio);
|
||||
}
|
||||
|
||||
void ImageView::repositionZoomLabel()
|
||||
{
|
||||
if (!m_zoomLabel) {
|
||||
|
||||
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Reference in New Issue
Block a user