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Non-rigid-ErrorMap.cpp
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Non-rigid-ErrorMap.cpp
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// Non-rigid-win32.cpp : 此文件包含 "main" 函数。程序执行将在此处开始并结束。
//
#include "pch.h"
#include <string>
#include <vtkCellLocator.h>
#include <vtkSmartPointer.h>
#include <vtkOBJReader.h>
#include <vtkPLYReader.h>
#include <vtkPolyData.h>
#include <vtkPolyDataMapper.h>
#include <vtkActor.h>
#include <vtkRendererCollection.h>
#include <vtkRenderWindow.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkPointPicker.h>
#include <vtkSphereSource.h>
#include <vtkInteractorStyleTrackballCamera.h>
#include <vtkRenderer.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkInteractorStyleRubberBandPick.h>
#include <vtkConeSource.h>
#include <vtkProperty.h>
#include <vtkPLYWriter.h>
#include"rendercone.h"
#include <vtkKdTree.h>
#include <stdio.h>
#include<iostream>
#include<sstream>
#include<vtkLODActor.h>
//#include"algorithm.h"
#include<vtkScalarBarActor.h>
//#include "optimal_nonrigid_icp.h"
#include <vtkAutoInit.h>
#include "vtkFloatArray.h"
#include "vtkPointData.h"
#include "vtkCamera.h"
#include<vtkLineSource.h>
#include <vtkPolyLine.h>
VTK_MODULE_INIT(vtkInteractionStyle);
VTK_MODULE_INIT(vtkRenderingFreeType);
VTK_MODULE_INIT(vtkRenderingOpenGL2);
#include <vtkLookupTable.h>
typedef std::vector<double> T;
std::vector<T> pickpoints;
std::vector<int> PickId;
std::vector<int> PickId_For_range;
std::vector<int> PickID_Range;
//std::vector<double*> test;
bool ShowTargetCor = false;
vtkSmartPointer<vtkPoints> templet_list= vtkSmartPointer<vtkPoints>::New();
vtkSmartPointer<vtkPoints> target_list = vtkSmartPointer<vtkPoints>::New();
vtkSmartPointer<vtkPoints> source_list = vtkSmartPointer<vtkPoints>::New();
std::vector<double> error_list;
std::vector<double> stiffness_error_list;
std::vector<std::vector<double>> corrent_num;
std::vector<std::vector<double>> X_Matrix_list;
std::vector<std::vector<int>> Neighbor_list;
static renderCone cone;
static renderCone child;
static renderCone source;
void MakeLine(vtkRenderer * renderer);
void Make_range_list() {
for (int i = 0; i < PickId_For_range.size(); i++) {
double rxyz[3];
templet_list->GetPoint(PickId_For_range[i], rxyz);
for (int j = 0; j < templet_list->GetNumberOfPoints(); j++) {
double xyz[3];
templet_list->GetPoint(j, xyz);
double dis = std::sqrt((rxyz[0] - xyz[0])*(rxyz[0] - xyz[0]) + (rxyz[1] - xyz[1])*(rxyz[1] - xyz[1]) + (rxyz[2] - xyz[2])*(rxyz[2] - xyz[2]));
if (dis < 0.7) {
PickID_Range.push_back(j);
}
}
}
}
bool IsIn(std::vector<int> list, int num) {
for (int i = 0; i < list.size(); i++) {
if (num == list[i]) {
return true;
}
}
return false;
}
class PointPickerInteractorStyle : public vtkInteractorStyleTrackballCamera
{
public:
static PointPickerInteractorStyle* New();
vtkTypeMacro(PointPickerInteractorStyle, vtkInteractorStyleTrackballCamera);
virtual void OnRightButtonDown()
{
std::cout << "Picking pixel: " << this->Interactor->GetEventPosition()[0] << " " << this->Interactor->GetEventPosition()[1] << std::endl;
/*vtkSmartPointer < vtkPointPicker> pickertest = vtkSmartPointer < vtkPointPicker>::New();
pickertest->Pick(this->Interactor->GetEventPosition()[0],
this->Interactor->GetEventPosition()[1],
0, // always zero.
this->Interactor->GetRenderWindow()->GetRenderers()->GetFirstRenderer());
double pickpoint[3];
pickertest->GetPickPosition(pickpoint);
int num = pickertest->GetPointId();
double xyz[3];
templet_list->GetPoint(num, xyz);
std::cout << "Pick id is " << num << std::endl;
std::cout << "Picked value: " << pickpoint[0] << " " << pickpoint[1] << " " << pickpoint[2] << std::endl;
std::cout << "Picked value: " << xyz[0] << " " << xyz[1] << " " << xyz[2] << std::endl;
std::cout << "Distance error is" << error_list[num] << std::endl;
PickId_For_range.push_back(num);
if (PickId_For_range.size() == 3) {
MakeLine(this->Interactor->GetRenderWindow()->GetRenderers()->GetFirstRenderer());
}
vtkSmartPointer<vtkSphereSource> sphereSource =
vtkSmartPointer<vtkSphereSource>::New();
sphereSource->Update();
vtkSmartPointer<vtkPolyDataMapper> mapper =
vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetInputConnection(sphereSource->GetOutputPort());
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);
actor->SetPosition(pickpoint);
actor->SetScale(0.5);//设置显示点的大小
actor->GetProperty()->SetColor(1.0, 0.0, 0.0);
this->Interactor->GetRenderWindow()->GetRenderers()->GetFirstRenderer()->AddActor(actor);
vtkInteractorStyleTrackballCamera::OnRightButtonDown();
*/
//this->Interactor->GetPicker()->Pick(this->Interactor->GetEventPosition()[0],
// this->Interactor->GetEventPosition()[1],
// 0, // always zero.
// this->Interactor->GetRenderWindow()->GetRenderers()->GetFirstRenderer());
double picked[3];
//this->Interactor->GetPicker()->GetPickPosition(picked);
//int cur_id = 0;
//cur_id=this->Interactor->GetPicker()->GetPickFromList();
vtkSmartPointer < vtkPointPicker> pickertest = vtkSmartPointer < vtkPointPicker>::New();
pickertest->Pick(cone.renderWindowInteractor->GetEventPosition()[0],
cone.renderWindowInteractor->GetEventPosition()[1],
0, // always zero.
cone.renderWindowInteractor->GetRenderWindow()->GetRenderers()->GetFirstRenderer());
double pickpoint[3];
pickertest->GetPickPosition(picked);
int num = pickertest->GetPointId();
std::cout << "Pick id is " << num << std::endl;
std::cout << "Picked value: " << picked[0] << " " << picked[1] << " " << picked[2] << std::endl;
std::cout << "Distance error is" << error_list[num] << std::endl;
double pos[3];
pos[0] = corrent_num[num][0];
pos[1] = corrent_num[num][1];
pos[2] = corrent_num[num][2];
//target_list->GetPoint(corrent_num[num],pos);
vtkSmartPointer<vtkSphereSource> sphereSource =
vtkSmartPointer<vtkSphereSource>::New();
sphereSource->Update();
vtkSmartPointer<vtkPolyDataMapper> mapper =
vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetInputConnection(sphereSource->GetOutputPort());
vtkSmartPointer<vtkActor> actor = vtkSmartPointer<vtkActor>::New();
actor->SetMapper(mapper);
actor->SetPosition(pos);
actor->SetScale(0.5);//设置显示点的大小
actor->GetProperty()->SetColor(1.0, 0.0, 0.0);
//child.SetActor(actor);
child.SetPos(pos);
//源模型上的点
double source_pos[3];
source_list->GetPoint(num, source_pos);
vtkSmartPointer<vtkSphereSource> sphereSource3 =
vtkSmartPointer<vtkSphereSource>::New();
sphereSource3->Update();
vtkSmartPointer<vtkPolyDataMapper> mapper3 =
vtkSmartPointer<vtkPolyDataMapper>::New();
mapper3->SetInputConnection(sphereSource3->GetOutputPort());
vtkSmartPointer<vtkActor> actor3 = vtkSmartPointer<vtkActor>::New();
actor3->SetMapper(mapper);
actor3->SetPosition(pos);
actor3->SetScale(0.5);//设置显示点的大小
actor3->GetProperty()->SetColor(1.0, 0.0, 0.0);
//child.SetActor(actor);
source.SetPos(source_pos);
//源模型的点(上部)
//child->AddActor(actor);
vtkSmartPointer<vtkSphereSource> sphereSource2 =
vtkSmartPointer<vtkSphereSource>::New();
sphereSource2->Update();
vtkSmartPointer<vtkPolyDataMapper> mapper2 =
vtkSmartPointer<vtkPolyDataMapper>::New();
mapper2->SetInputConnection(sphereSource2->GetOutputPort());
vtkSmartPointer<vtkActor> actor2 = vtkSmartPointer<vtkActor>::New();
actor2->SetMapper(mapper2);
actor2->SetPosition(picked);
actor2->SetScale(0.1);//设置显示点的大小
actor2->GetProperty()->SetColor(1.0, 0.0, 0.0);
cone.renderWindowInteractor->GetRenderWindow()->GetRenderers()->GetFirstRenderer()->AddActor(actor);
vtkInteractorStyleTrackballCamera::OnRightButtonDown();
}
};
vtkStandardNewMacro(PointPickerInteractorStyle);
void InitLineActor(vtkPoints* points, vtkActor* lactor, double color[3]) {
vtkSmartPointer<vtkPolyLine> polyLine =vtkSmartPointer<vtkPolyLine>::New();
polyLine->GetPointIds()->SetNumberOfIds(points->GetNumberOfPoints());
for (unsigned int i = 0; i < points->GetNumberOfPoints(); i++)
{
polyLine->GetPointIds()->SetId(i, i);
}
vtkSmartPointer<vtkCellArray> cells =
vtkSmartPointer<vtkCellArray>::New();
cells->InsertNextCell(polyLine);
vtkSmartPointer<vtkPolyData> polyData =
vtkSmartPointer<vtkPolyData>::New();
polyData->SetPoints(points);
polyData->SetLines(cells);
vtkSmartPointer<vtkPolyDataMapper> mapper =
vtkSmartPointer<vtkPolyDataMapper>::New();
mapper->SetInputData(polyData);
lactor->SetMapper(mapper);
lactor->GetProperty()->SetLineWidth(1);
lactor->GetProperty()->SetColor(color);
}
void MakeLine(vtkRenderer * renderer) {
Make_range_list();
for (int i = 0; i < PickID_Range.size(); i++) {
vtkPoints* points = vtkPoints::New();
double xyz[3];
int num = PickID_Range[i];
templet_list->GetPoint(num, xyz);
points->InsertNextPoint(xyz[0], xyz[1], xyz[2]);
points->InsertNextPoint(corrent_num[num][0] + 30, corrent_num[num][1], corrent_num[num][2]);
vtkSmartPointer<vtkActor> temp_actor = vtkSmartPointer<vtkActor>::New();
double color[3] = { 1,0,0 };
InitLineActor(points, temp_actor, color);
renderer->AddActor(temp_actor);
}
for (int i = 0; i < PickID_Range.size(); i++) {
vtkPoints* points = vtkPoints::New();
double xyz[3];
int num = PickID_Range[i];
templet_list->GetPoint(num, xyz);
points->InsertNextPoint(xyz[0], xyz[1], xyz[2]);
double sxyz[3];
source_list->GetPoint(num, sxyz);
points->InsertNextPoint(sxyz[0] - 30, sxyz[1], sxyz[2]);
vtkSmartPointer<vtkActor> temp_actor = vtkSmartPointer<vtkActor>::New();
double color[3] = { 0,1,0 };
InitLineActor(points, temp_actor, color);
renderer->AddActor(temp_actor);
}
}
int main(int argc, char**argv)
{
std::string source_filename = "BaseModel.ply";
std::string template_filename = "BaseModel_choose_mouth_rigid_no_cal_199.ply";
std::string target_filename = "ScreamNew.ply";
vtkSmartPointer<vtkPLYReader> template_reader = vtkSmartPointer<vtkPLYReader>::New();
template_reader->SetFileName(template_filename.c_str());
template_reader->Update();
vtkSmartPointer<vtkPLYReader> target_reader = vtkSmartPointer<vtkPLYReader>::New();
target_reader->SetFileName(target_filename.c_str());
target_reader->Update();
vtkSmartPointer<vtkPolyData> template_polyData = template_reader->GetOutput();
vtkSmartPointer<vtkPolyData> target_polyData = target_reader->GetOutput();
templet_list = template_polyData->GetPoints();
target_list = target_polyData->GetPoints();
vtkSmartPointer<vtkPLYReader> source_reader = vtkSmartPointer<vtkPLYReader>::New();
source_reader->SetFileName(source_filename.c_str());
source_reader->Update();
vtkSmartPointer<vtkPolyData> source_Polydata = source_reader->GetOutput();
vtkSmartPointer<vtkPolyDataMapper> source_mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
source_mapper->SetInputData(source_Polydata);
vtkSmartPointer<vtkActor> source_actor = vtkSmartPointer<vtkActor>::New();
source_actor->SetMapper(source_mapper);
source_actor->GetProperty()->SetColor(0, 0.8, 0.2);
source_actor->GetProperty()->SetOpacity(0.7);
source_actor->SetPosition(-30, 0, 0);
vtkSmartPointer<vtkInteractorStyleRubberBandPick> interactorStyle3 =
vtkSmartPointer<vtkInteractorStyleRubberBandPick>::New();
source_list = source_Polydata->GetPoints();
//vtkSmartPointer<vtkActor> template_actor = vtkSmartPointer<vtkActor>::New();
//template_actor->SetMapper(template_mapper);
// InitLineActor(points, template_actor, color);
ifstream cor_text;
cor_text.open("199BaseModelcor_no_cal.txt");
std::string str_cor;
while (std::getline(cor_text, str_cor)) {
std::istringstream input(str_cor);
std::vector<double> a;
double temp;
while (input >> temp) {
a.push_back(temp);
}
corrent_num.push_back(a);
}
//GetVertices(templet_list, corrent_list);
double max_error=0;
double max_sec_error = 0;
double min_error=100;
for (int i = 0; i < templet_list->GetNumberOfPoints(); i++) {
double xyz[3];
templet_list->GetPoint(i, xyz);
double txyz[3];
txyz[0]=corrent_num[i][0];
txyz[1] = corrent_num[i][1];
txyz[2] = corrent_num[i][2];
double error = std::sqrt((xyz[0] - txyz[0])*(xyz[0] - txyz[0]) + (xyz[1] - txyz[1])*(xyz[1] - txyz[1])
+ (xyz[2] - txyz[2])*(xyz[2] - txyz[2]));
error = error;
error_list.push_back(error);
if (max_error < error) {
max_sec_error = max_error;
max_error = error;
}
if (min_error > error) {
min_error = error;
}
}
//计算刚性loss
ifstream mat_text;
mat_text.open("199BaseModelX_Matrix_no_cal.txt");
std::string str;
while (std::getline(mat_text, str)) {
std::istringstream input(str);
std::vector<double> a;
double temp;
while (input >> temp) {
a.push_back(temp);
}
X_Matrix_list.push_back(a);
}
//计算邻居
int num = template_polyData->GetNumberOfCells();
std::vector<std::vector<int>> Topl_list(template_polyData->GetNumberOfPoints());
for (int i = 0; i < template_polyData->GetNumberOfCells(); ++i)//遍历模型中的单元,找到所有边,存储每个点的和该点相连的点的ID
{
vtkCell* cell = template_polyData->GetCell(i);
int a = cell->GetPointId(0);
int b = cell->GetPointId(1);
int c = cell->GetPointId(2);
if (IsIn(Topl_list[a], b) == false) {//判断该点是否已经在周围点列表中
Topl_list[a].push_back(b);
}
if (IsIn(Topl_list[a], c) == false) {
Topl_list[a].push_back(c);
}
if (IsIn(Topl_list[b], a) == false) {
Topl_list[b].push_back(a);
}
if (IsIn(Topl_list[b], c) == false) {
Topl_list[b].push_back(c);
}
if (IsIn(Topl_list[c], b) == false) {
Topl_list[c].push_back(b);
}
if (IsIn(Topl_list[c],a) == false) {
Topl_list[c].push_back(a);
}
}
//设置最大误差和最小误差,在映射误差图颜色时用
double max_stiff_error = 0;
double min_stiff_error = 100;
for (int i = 0; i < template_polyData->GetNumberOfPoints(); i++) {//遍历原始模型的点
double testPoint[3];
template_polyData->GetPoint(i, testPoint);//得到原始模型上的第i个点
vtkSmartPointer<vtkIdList> result =
vtkSmartPointer<vtkIdList>::New();
//pointTree->FindClosestNPoints(k, testPoint, result);//找到4个最近点,结果保存在result中
double cur_offset[3];//当前点的变换的位置(这里的X_Matrix里保存的XT,是论文中用来变换坐标的矩阵,这里将点扩充为齐次坐标表示)
cur_offset[0] = X_Matrix_list[3 * i][0] * testPoint[0] + X_Matrix_list[3 * i][1] * testPoint[1] +
X_Matrix_list[3 * i][2] * testPoint[2] + X_Matrix_list[3 * i][3];
cur_offset[1] = X_Matrix_list[3 * i+1][0] * testPoint[0] + X_Matrix_list[3 * i+1][1] * testPoint[1] +
X_Matrix_list[3 * i+1][2] * testPoint[2] + X_Matrix_list[3 * i+1][3];
cur_offset[2] = X_Matrix_list[3 * i + 2][0] * testPoint[0] + X_Matrix_list[3 * i + 2][1] * testPoint[1] +
X_Matrix_list[3 * i + 2][2] * testPoint[2] + X_Matrix_list[3 * i + 2][3];
double near_list[10][3];
double mat_err_temp=0;//定义error
for (int j = 0; j < Topl_list[i].size(); j++) {
int num = Topl_list[i][j];//得到最近点的id
near_list[j][0]= X_Matrix_list[3 * num][0] * testPoint[0] + X_Matrix_list[3 * num][1] * testPoint[1] +
X_Matrix_list[3 * num][2] * testPoint[2] + X_Matrix_list[3 * num][3];
near_list[j][1] = X_Matrix_list[3 * num+1][0] * testPoint[0] +
X_Matrix_list[3 * num+1][1] * testPoint[1] + X_Matrix_list[3 * num+1][2] * testPoint[2] + X_Matrix_list[3 * num+1][3];
near_list[j][2] = X_Matrix_list[3 * num+2][0] * testPoint[0] +
X_Matrix_list[3 * num+2][1] * testPoint[1] + X_Matrix_list[3 * num+2][2] * testPoint[2] + X_Matrix_list[3 * num+2][3];
}
for (int er_num = 0; er_num < Topl_list[i].size(); er_num++) {//计算loss
mat_err_temp += std::sqrt((near_list[er_num][0] - cur_offset[0])*(near_list[er_num][0] - cur_offset[0]) +
(near_list[er_num][1] - cur_offset[1])*(near_list[er_num][1] - cur_offset[1]) +
(near_list[er_num][2] - cur_offset[2])*(near_list[er_num][2] - cur_offset[2]));
}
mat_err_temp = mat_err_temp / Topl_list[i].size();
stiffness_error_list.push_back(mat_err_temp);
if (max_stiff_error < mat_err_temp) {
max_stiff_error = mat_err_temp;
}
if (min_stiff_error > mat_err_temp) {
min_stiff_error = mat_err_temp;
}
}
vtkSmartPointer<vtkFloatArray>scalars = vtkSmartPointer<vtkFloatArray>::New();
for (int i = 0; i < template_polyData->GetNumberOfPoints(); i++){
//double temp = error_list[i];
double temp = error_list[i];
scalars->InsertTuple1(i, temp);
}
template_polyData->GetPointData()->SetScalars(scalars);
vtkSmartPointer<vtkPolyDataMapper> template_mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
template_mapper->SetInputData(template_polyData);
vtkSmartPointer<vtkLookupTable>pColorTable = vtkSmartPointer<vtkLookupTable>::New();
int numofpoints = template_polyData->GetNumberOfPoints();
pColorTable->SetHueRange(0.6, 0.0);
pColorTable->SetAlphaRange(1.0, 1.0);
pColorTable->SetValueRange(1.0, 1.0);
pColorTable->SetSaturationRange(1.0, 1.0);
pColorTable->SetNumberOfTableValues(25600);
pColorTable->Build();
template_mapper->SetScalarRange(min_stiff_error,max_stiff_error);
template_mapper->SetLookupTable(pColorTable);
vtkSmartPointer<vtkScalarBarActor> scalarBar =
vtkSmartPointer<vtkScalarBarActor>::New();
scalarBar->SetLookupTable(template_mapper->GetLookupTable());
scalarBar->SetTitle("Error Bar");
scalarBar->SetNumberOfLabels(5); //设置5个标签
vtkSmartPointer<vtkPolyDataMapper> target_mapper = vtkSmartPointer<vtkPolyDataMapper>::New();
target_mapper->SetInputData(target_polyData);
vtkSmartPointer<vtkActor> template_actor = vtkSmartPointer<vtkActor>::New();
template_actor->SetMapper(template_mapper);
template_actor->SetPosition(0, 0, 0);
//template_actor->GetProperty()->SetOpacity(0.7);
//template_actor->GetProperty()->SetColor(0.8, 0.2, 0);
vtkSmartPointer<vtkActor> target_actor = vtkSmartPointer<vtkActor>::New();
target_actor->SetMapper(target_mapper);
target_actor->SetPosition(30, 0, 0);
target_actor->GetProperty()->SetColor(0, 0.2, 0.8);
target_actor->GetProperty()->SetOpacity(0.7);
vtkCamera *camera = vtkCamera::New();
camera->SetPosition(1, 1, 1);
camera->SetFocalPoint(0, 0, 0);
vtkRenderer *renderer = vtkRenderer::New();
vtkRenderWindow *renWin = vtkRenderWindow::New();
renWin->AddRenderer(renderer);
vtkSmartPointer<PointPickerInteractorStyle> interactorStyle_figer =
vtkSmartPointer<PointPickerInteractorStyle>::New();
//vtkSmartPointer<vtkInteractorStyleRubberBandPick> interactorStyle4 =
// vtkSmartPointer<vtkInteractorStyleRubberBandPick>::New();
vtkRenderWindowInteractor *iren = vtkRenderWindowInteractor::New();
iren->SetRenderWindow(renWin);
//renderer->AddActor(source_actor);
renderer->AddActor(template_actor);
//renderer->AddActor(target_actor);
renderer->AddActor2D(scalarBar);
renderer->SetActiveCamera(camera);
renderer->ResetCamera();
renderer->SetBackground(1, 1, 1);
iren->SetInteractorStyle(interactorStyle_figer);
renWin->SetSize(400, 400);
renWin->Render();
iren->Start();
vtkSmartPointer<PointPickerInteractorStyle> interactorStyle =
vtkSmartPointer<PointPickerInteractorStyle>::New();
cone.Getrenderwindow()->SetInteractorStyle(interactorStyle);
//cone.SetColor(0.5, 0, 0);
cone.SetActor(template_actor);
cone.SetInteractor();
vtkSmartPointer<PointPickerInteractorStyle> interactorStyle2 =
vtkSmartPointer<PointPickerInteractorStyle>::New();
child.Getrenderwindow()->SetInteractorStyle(interactorStyle2);
child.SetColor(0, 0.5, 0);
child.SetActor(target_actor);
cone.SetChild(&child);
source.Getrenderwindow()->SetInteractorStyle(interactorStyle3);
source.SetActor(source_actor);
source.SetColor(0, 0, 5);
child.SetChild(&source);
cone.Render();
child.Render();
source.Render();
return 0;
}
// 运行程序: Ctrl + F5 或调试 >“开始执行(不调试)”菜单
// 调试程序: F5 或调试 >“开始调试”菜单
// 入门提示:
// 1. 使用解决方案资源管理器窗口添加/管理文件
// 2. 使用团队资源管理器窗口连接到源代码管理
// 3. 使用输出窗口查看生成输出和其他消息
// 4. 使用错误列表窗口查看错误
// 5. 转到“项目”>“添加新项”以创建新的代码文件,或转到“项目”>“添加现有项”以将现有代码文件添加到项目
// 6. 将来,若要再次打开此项目,请转到“文件”>“打开”>“项目”并选择 .sln 文件