位姿檢索的哈希算法：https://blog.csdn.net/wishchin/article/details/19164875

1.C++ IDE設計

MFC這種半死不活的windows C++平臺已經被拋棄，很無奈。轉向Qt的C++還是不錯的選擇。

QT的QML才是最新的亮點，可惜沒有時間經歷這些東西了。

2.程序代碼

2.1 開始哥的配置文件：

QT += core gui TARGET = QtGUI TEMPLATE = app INCLUDEPATH += C:/PCL_1.6/3rdParty/Boost/include INCLUDEPATH += C:/PCL_1.6/3rdParty/Eigen/include INCLUDEPATH += C:/PCL_1.6/3rdParty/FLANN/include INCLUDEPATH += C:/PCL_1.6/3rdParty/Qhull/include INCLUDEPATH += C:/PCL_1.6/3rdParty/VTK/include INCLUDEPATH += C:/Dev/HDF5_1.8.11/include INCLUDEPATH += C:/Dev/CV2.4.6/opencv/build/includeSOURCES += main.cpp\wishgui.cppHEADERS += wishgui.h //SOURCES += cwishguigo.cpp //HEADERS += cwishguigo.h //HEADERS += include/LSH.h//SOURCES += include/LSH.cppHEADERS += include/CvDraw.h SOURCES += include/CvDraw.cpp//LIBS += C:/PCL_1.6/3rdParty/Boost/lib/boost_filesystem-vc100-mt-gd-1_50.lib //LIBS += C:/PCL_1.6/3rdParty/Boost/lib/boost_system-vc100-mt-gd-1_50.lib //LIBS += C:/PCL_1.6/3rdParty/Boost/lib/libboost_filesystem-vc100-mt-1_50.lib //LIBS += C:/PCL_1.6/3rdParty/Boost/lib/libboost_system-vc100-mt-1_50.lib LIBS += C:/PCL_1.6/3rdParty/Boost/lib/libboost_filesystem-vc100-mt-gd-1_50.lib LIBS += C:/PCL_1.6/3rdParty/Boost/lib/libboost_system-vc100-mt-gd-1_50.lib LIBS += C:/PCL_1.6/3rdParty/Boost/lib/libboost_date_time-vc100-mt-gd-1_50.lib LIBS += C:/PCL_1.6/3rdParty/Boost/lib/libboost_thread-vc100-mt-gd-1_50.lib LIBS += C:/PCL_1.6/3rdParty/FLANN/lib/flann_cpp_s-gd.lib LIBS += C:/PCL_1.6/3rdParty/Qhull/lib/qhull6_d.lib LIBS += C:/PCL_1.6/3rdParty/VTK/lib/vtk-5.8/QVTK-gd.lib LIBS += C:/Dev/HDF5_1.8.11/lib/hdf5.lib//使用MSVC調試器，下面注釋掉兩行為MinGW調試器所使用 //LIBS += C:/Dev/CV2.4.6/opencv/build/x86/mingw/lib/libopencv_highgui246.dll.a //LIBS += C:/Dev/CV2.4.6/opencv/build/x86/mingw/lib/libopencv_core246.dll.a LIBS += C:/Dev/CV2.4.6/opencv/build/x86/vc10/lib/opencv_highgui246d.lib LIBS += C:/Dev/CV2.4.6/opencv/build/x86/vc10/lib/opencv_core246d.lib FORMS += wishgui.ui

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2. 2 程序入口

#include <QtGui/QApplication> #include <QtGui> #include "wishgui.h" //#include "include/LSH.h"int main(int argc, char *argv[]) {QApplication app(argc, argv);//SetBackGround...CWishGUI *frame= new CWishGUI;frame->setObjectName("myframe");frame->resize(831,580);frame->setStyleSheet("CWishGUI#myframe{border-image:url(src/GrassCropReform.png)}" );frame->show();return app.exec(); }

2.3 UI文件

注意事項：資源文件要放在 生成目錄的 PupilGuiWish-build-desktop-Qt_4_8_6_qmake____ 文件夾！

是不是界面太丑了？來，改進一下設計：

2.3.1 按鈕控件透明處理

找了半天沒有找到，只實現(xiàn)了Tab的透明化。圖片如下：

修改的UI類代碼為：

CWishGUI::CWishGUI(QWidget *parent) :QMainWindow(parent),ui(new Ui::CWishGUI) {ui->setupUi(this);QPixmap pixmap("./Image/Spark.jpg");ui->WishLabel->setPixmap(pixmap);//ui->ShowRGB->setStyleSheet("QPushButton:pane {background: transparent; }");//ui->ShowRGB->setAttribute(Qt::WA_TranslucentBackground, true);//it is no use!ui->ShowRGB->setAttribute(Qt::WA_StyledBackground, true);//主要修改代碼ui->tabWidget->setStyleSheet("QTabWidget:pane {border-top:2px solid #e8f3f9;border-right:2px solid #e8f3f9; border-left:2px solid #e8f3f9;border-bottom:2px solid #e8f3f9;background: transparent; }");//ui->tabWidget->setAttribute(Qt::WA_TranslucentBackground, true);//ui->tabWidget->setWindowOpacity(0.2);ui->lineEdit_PoseX->setStyleSheet("QLineEdit:pane {border-top:1px solid #e8f3f9;border-right:1px solid #e8f3f9; border-left:1px solid #e8f3f9;border-bottom:1px solid #e8f3f9;background: transparent; }");connect( ui->Connect , SIGNAL(clicked()), this, SLOT(setImageShow) ); }

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3.程序結果

弄了大半天，只設計了一個UI，沒有對程序進行類的規(guī)劃繼承，可以說是雛形的雛形。

整體程序流程

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4. ICP結果

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