3dtof_viewer/Viewer/MainWnd.py

import math
import time
import sys
from PyQt5.QtGui import *
from PyQt5.QtWidgets import *
from PyQt5.QtCore import *
from CustomFrame import *


class MainWindow(QMainWindow):
    """docstring for Mainwindow"""

    def __init__(self, parent = None):
        super(MainWindow,self).__init__(parent)
        self.basic()
        self.Controller = ControlFrame()
        self.viewerFrame = ViewerFrame(self.Controller.OnAction)
        self.Controller.btnSaveAllCloud.clicked.connect(self.saveAllCloud)

        splitter= self.split_()
        self.setCentralWidget(splitter)
    def saveAllCloud(self):
        fileName2, ok2 = QFileDialog.getSaveFileName(self, "文件保存", "C:/","All Files (*);;Text Files (*.txt)")
        print(fileName2 ,ok2)
        with open(fileName2,"w+") as f:
            for point in self.viewerFrame.pcViewer1.pointCloud:
                prob=point[3]
                f.write("%f %f %f %d %d %d\n"%(point[0],point[1],point[2],int(255*prob),int(255-prob*255),255-int(prob*255)))
            for point in self.viewerFrame.pcViewer2.pointCloud:
                prob=point[3]
                f.write("%f %f %f %d %d %d\n"%(point[0],point[1],point[2],int(255*prob),int(255-prob*255),255-int(prob*255)))
            for point in self.viewerFrame.pcViewer3.pointCloud:
                prob=point[3]
                f.write("%f %f %f %d %d %d\n"%(point[0],point[1],point[2],int(255*prob),int(255-prob*255),255-int(prob*255)))
            for point in self.viewerFrame.pcViewer4.pointCloud:
                prob=point[3]
                f.write("%f %f %f %d %d %d\n"%(point[0],point[1],point[2],int(255*prob),int(255-prob*255),255-int(prob*255)))
    #窗口基础属性
    def basic(self):
        #设置标题，大小，图标
        self.setWindowTitle("RPC3DView")
        self.resize(490*2+300, 370*2)
        #self.setWindowIcon(QIcon("./image/Gt.png"))
        #居中显示
        screen = QDesktopWidget().geometry()
        self_size = self.geometry()
        self.move(int((screen.width() - self_size.width())/2),int((screen.height() - self_size.height())/2))

    def closeEvent(self, QCloseEvent):
        self.Controller.close()
        self.viewerFrame.close()

    #分割窗口
    def split_(self):

        splitter = QSplitter(Qt.Horizontal)

        splitter.addWidget(self.viewerFrame)
        splitter.addWidget(self.Controller)

        splitter.setStretchFactor(0,3)
        splitter.setStretchFactor(1,1)
        return splitter
    def OnImagesHandle(self,images:pb.ResImage):
        self.viewerFrame.DisplayImage(images)
        self.Controller.OnImages(images)

    def OnCloudHandle(self,clouds:pb.ResCloud):
        self.viewerFrame.DisplayCloud(clouds)

    def OnMeasureDataHandle(self,measure:pb.MeasureInfo):
        self.Controller.DisplayMeasureInfo(measure)