在c++MFC下用PCL显示操作点云文件 MFC对话框显示操作PCL点云

2023-03-15 21:16:30

原文作者：aircraft

原文地址：https://www.cnblogs.com/DOMLX/p/13115873.html

第一步下载PCL库我的版本是1.8.1的

你都要MFC下跑PCL了你不会不知道怎么下载吧（不会吧不会吧不会有人真的不知道怎么下载吧。。。）

第二步新建一个MFC对话框程序（这个不要人教的把）

打开VS2017 新建项目-MFC应用程序-基于对话框

第三步配置PCL

点开属性管理器 debugx64下新建一个属性页命名PCL_ALLINONE （因为我是debug x64 你们32就32咯）

然后右键打开其属性

在包含目录编辑将自己的PCL库包含注意找你们自己PCL的路径这个要是来问我我不锤爆你们的狗头！！！！

库目录包含

在到链接器-》输入-》附加依赖项包含自己PCL库的lib文件名字

（注意！！！如果你们库跟我一样可以直接用我的）如果不一样那么到相应的lib库文件位置打开cmd 然后用命令行将文件名都输入到一个文件保存就行了好像是 dir \b >>1.txt (不太记得了然后复制里面lib结尾的名字粘贴就行了）

vtknetcdf_c++-gd.lib
pcl_common_debug.lib
pcl_features_debug.lib
pcl_filters_debug.lib
pcl_io_ply_debug.lib
pcl_io_debug.lib
pcl_kdtree_debug.lib
pcl_keypoints_debug.lib
pcl_ml_debug.lib
pcl_octree_debug.lib
pcl_outofcore_debug.lib
pcl_people_debug.lib
pcl_recognition_debug.lib
pcl_registration_debug.lib
pcl_sample_consensus_debug.lib
pcl_search_debug.lib
pcl_segmentation_debug.lib
pcl_stereo_debug.lib
pcl_surface_debug.lib
pcl_tracking_debug.lib
pcl_visualization_debug.lib
libboost_atomic-vc141-mt-gd-1_64.lib
libboost_bzip2-vc141-mt-gd-1_64.lib
libboost_chrono-vc141-mt-gd-1_64.lib
libboost_container-vc141-mt-gd-1_64.lib
libboost_context-vc141-mt-gd-1_64.lib
libboost_coroutine-vc141-mt-gd-1_64.lib
libboost_date_time-vc141-mt-gd-1_64.lib
libboost_exception-vc141-mt-gd-1_64.lib
libboost_fiber-vc141-mt-gd-1_64.lib
libboost_filesystem-vc141-mt-gd-1_64.lib
libboost_graph-vc141-mt-gd-1_64.lib
libboost_graph_parallel-vc141-mt-gd-1_64.lib
libboost_iostreams-vc141-mt-gd-1_64.lib
libboost_locale-vc141-mt-gd-1_64.lib
libboost_log-vc141-mt-gd-1_64.lib
libboost_log_setup-vc141-mt-gd-1_64.lib
libboost_math_c99-vc141-mt-gd-1_64.lib
libboost_math_c99f-vc141-mt-gd-1_64.lib
libboost_math_c99l-vc141-mt-gd-1_64.lib
libboost_math_tr1-vc141-mt-gd-1_64.lib
libboost_math_tr1f-vc141-mt-gd-1_64.lib
libboost_math_tr1l-vc141-mt-gd-1_64.lib
libboost_mpi-vc141-mt-gd-1_64.lib
libboost_numpy3-vc141-mt-gd-1_64.lib
libboost_numpy-vc141-mt-gd-1_64.lib
libboost_prg_exec_monitor-vc141-mt-gd-1_64.lib
libboost_program_options-vc141-mt-gd-1_64.lib
libboost_python3-vc141-mt-gd-1_64.lib
libboost_python-vc141-mt-gd-1_64.lib
libboost_random-vc141-mt-gd-1_64.lib
libboost_regex-vc141-mt-gd-1_64.lib
libboost_serialization-vc141-mt-gd-1_64.lib
libboost_signals-vc141-mt-gd-1_64.lib
libboost_system-vc141-mt-gd-1_64.lib
libboost_test_exec_monitor-vc141-mt-gd-1_64.lib
libboost_thread-vc141-mt-gd-1_64.lib
libboost_timer-vc141-mt-gd-1_64.lib
libboost_type_erasure-vc141-mt-gd-1_64.lib
libboost_unit_test_framework-vc141-mt-gd-1_64.lib
libboost_wave-vc141-mt-gd-1_64.lib
libboost_wserialization-vc141-mt-gd-1_64.lib
libboost_zlib-vc141-mt-gd-1_64.lib
flann-gd.lib
flann_cpp-gd.lib
flann_cpp_s-gd.lib
flann_s-gd.lib
qhull_d.lib
qhullcpp_d.lib
qhullstatic_d.lib
qhullstatic_r_d.lib
qhull_p_d.lib
qhull_r_d.lib
vtkalglib-8.0-gd.lib
vtkChartsCore-8.0-gd.lib
vtkCommonColor-8.0-gd.lib
vtkCommonComputationalGeometry-8.0-gd.lib
vtkCommonCore-8.0-gd.lib
vtkCommonDataModel-8.0-gd.lib
vtkCommonExecutionModel-8.0-gd.lib
vtkCommonMath-8.0-gd.lib
vtkCommonMisc-8.0-gd.lib
vtkCommonSystem-8.0-gd.lib
vtkCommonTransforms-8.0-gd.lib
vtkDICOMParser-8.0-gd.lib
vtkDomainsChemistry-8.0-gd.lib
vtkexoIIc-8.0-gd.lib
vtkexpat-8.0-gd.lib
vtkFiltersAMR-8.0-gd.lib
vtkFiltersCore-8.0-gd.lib
vtkFiltersExtraction-8.0-gd.lib
vtkFiltersFlowPaths-8.0-gd.lib
vtkFiltersGeneral-8.0-gd.lib
vtkFiltersGeneric-8.0-gd.lib
vtkFiltersGeometry-8.0-gd.lib
vtkFiltersHybrid-8.0-gd.lib
vtkFiltersHyperTree-8.0-gd.lib
vtkFiltersImaging-8.0-gd.lib
vtkFiltersModeling-8.0-gd.lib
vtkFiltersParallel-8.0-gd.lib
vtkFiltersParallelImaging-8.0-gd.lib
vtkFiltersPoints-8.0-gd.lib
vtkFiltersProgrammable-8.0-gd.lib
vtkFiltersSelection-8.0-gd.lib
vtkFiltersSMP-8.0-gd.lib
vtkFiltersSources-8.0-gd.lib
vtkFiltersStatistics-8.0-gd.lib
vtkFiltersTexture-8.0-gd.lib
vtkFiltersTopology-8.0-gd.lib
vtkFiltersVerdict-8.0-gd.lib
vtkfreetype-8.0-gd.lib
vtkGeovisCore-8.0-gd.lib
vtkgl2ps-8.0-gd.lib
vtkhdf5-8.0-gd.lib
vtkhdf5_hl-8.0-gd.lib
vtkImagingColor-8.0-gd.lib
vtkImagingCore-8.0-gd.lib
vtkImagingFourier-8.0-gd.lib
vtkImagingGeneral-8.0-gd.lib
vtkImagingHybrid-8.0-gd.lib
vtkImagingMath-8.0-gd.lib
vtkImagingMorphological-8.0-gd.lib
vtkImagingSources-8.0-gd.lib
vtkImagingStatistics-8.0-gd.lib
vtkImagingStencil-8.0-gd.lib
vtkInfovisCore-8.0-gd.lib
vtkInfovisLayout-8.0-gd.lib
vtkInteractionImage-8.0-gd.lib
vtkInteractionStyle-8.0-gd.lib
vtkInteractionWidgets-8.0-gd.lib
vtkIOAMR-8.0-gd.lib
vtkIOCore-8.0-gd.lib
vtkIOEnSight-8.0-gd.lib
vtkIOExodus-8.0-gd.lib
vtkIOExport-8.0-gd.lib
vtkIOExportOpenGL-8.0-gd.lib
vtkIOGeometry-8.0-gd.lib
vtkIOImage-8.0-gd.lib
vtkIOImport-8.0-gd.lib
vtkIOInfovis-8.0-gd.lib
vtkIOLegacy-8.0-gd.lib
vtkIOLSDyna-8.0-gd.lib
vtkIOMINC-8.0-gd.lib
vtkIOMovie-8.0-gd.lib
vtkIONetCDF-8.0-gd.lib
vtkIOParallel-8.0-gd.lib
vtkIOParallelXML-8.0-gd.lib
vtkIOPLY-8.0-gd.lib
vtkIOSQL-8.0-gd.lib
vtkIOTecplotTable-8.0-gd.lib
vtkIOVideo-8.0-gd.lib
vtkIOXML-8.0-gd.lib
vtkIOXMLParser-8.0-gd.lib
vtkjpeg-8.0-gd.lib
vtkjsoncpp-8.0-gd.lib
vtklibharu-8.0-gd.lib
vtklibxml2-8.0-gd.lib
vtklz4-8.0-gd.lib
vtkmetaio-8.0-gd.lib
vtkNetCDF-8.0-gd.lib
vtkoggtheora-8.0-gd.lib
vtkParallelCore-8.0-gd.lib
vtkpng-8.0-gd.lib
vtkproj4-8.0-gd.lib
vtkRenderingAnnotation-8.0-gd.lib
vtkRenderingContext2D-8.0-gd.lib
vtkRenderingContextOpenGL-8.0-gd.lib
vtkRenderingCore-8.0-gd.lib
vtkRenderingFreeType-8.0-gd.lib
vtkRenderingGL2PS-8.0-gd.lib
vtkRenderingImage-8.0-gd.lib
vtkRenderingLabel-8.0-gd.lib
vtkRenderingLIC-8.0-gd.lib
vtkRenderingLOD-8.0-gd.lib
vtkRenderingOpenGL-8.0-gd.lib
vtkRenderingVolume-8.0-gd.lib
vtkRenderingVolumeOpenGL-8.0-gd.lib
vtksqlite-8.0-gd.lib
vtksys-8.0-gd.lib
vtktiff-8.0-gd.lib
vtkverdict-8.0-gd.lib
vtkViewsContext2D-8.0-gd.lib
vtkViewsCore-8.0-gd.lib
vtkViewsInfovis-8.0-gd.lib
vtkzlib-8.0-gd.lib
opengl32.lib

配置完毕以后其他mfc就不用重复配置将这个配置文件PCL_ALLINONG复制添加就行了

第四步编辑代码

编辑对话框添加一个pictrue_control控件改ID为IDC_PCDVIEW 添加一个按钮改名为openFILE

双击openFile按钮进入按钮事件编辑粘贴代码：

CString strFile = _T("");
    CFileDialog    dlgFile(TRUE, NULL, NULL, OFN_HIDEREADONLY, _T("Describe Files (*.pcd)|*.pcd|All Files (*.*)|*.*||"), NULL);
        if (dlgFile.DoModal())
        {
            strFile = dlgFile.GetPathName();
            //Cstring 转string
            CString theCStr;
            std::string STDStr(CW2A(strFile.GetString()));
            pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new
                pcl::PointCloud<pcl::PointXYZ>);
            if (pcl::io::loadPCDFile<pcl::PointXYZ>(STDStr, *cloud) == -1)//*打开点云文件
            {
                AfxMessageBox(_T("读入点云数据失败"));
            }
            m_viewer->removeAllPointClouds();//将前一次点云移除  
            pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(cloud, 0, 255, 0);
            m_viewer->addPointCloud<pcl::PointXYZ >(cloud, single_color, "sample cloud");

        }

代码就是打开文件选取PCD点云然后显示

在某某某dlg.h下添加头文件

#include <pcl/console/parse.h>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/common/io.h>
#include <pcl/visualization/pcl_visualizer.h>
//vtk
#include <vtkRenderWindow.h>
#include <vtkRenderWindowInteractor.h>
#include "vtkAutoInit.h" 
VTK_MODULE_INIT(vtkRenderingOpenGL); // VTK was built with vtkRenderingOpenGL2
VTK_MODULE_INIT(vtkInteractionStyle);

并且在这个dlg.h的文件类里添加：

private:
       boost::shared_ptr<pcl::visualization::PCLVisualizer> m_viewer;//要共享指针类型的，要不然，显示窗口会跳出MFC界面
       vtkRenderWindow* m_win;   //vtk渲染的窗口句柄
       vtkRenderWindowInteractor* m_iren;//vtk交互的对象

然后在dlg.cpp文件的OnInitDialog(）初始化函数下添加：（函数里的直接复制过去就行了毕竟我工程名字乱打的）

BOOL CMFCApplication3Dlg::OnInitDialog()
{
    CDialogEx::OnInitDialog();

    // 设置此对话框的图标。  当应用程序主窗口不是对话框时，框架将自动
    //  执行此操作
    SetIcon(m_hIcon, TRUE);            // 设置大图标
    SetIcon(m_hIcon, FALSE);        // 设置小图标

    // TODO: 在此添加额外的初始化代码
     //pcl显示窗口初始化
    m_viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));//初始化viewer对象
    m_viewer->addCoordinateSystem(); //设置对应的坐标系
    m_viewer->setBackgroundColor(0, 0, 0);//设置背景颜色
    m_viewer->initCameraParameters();//初始化相机的参数
    m_win = m_viewer->getRenderWindow();//将view中的渲染窗口的句柄传递给vtk window
    m_iren = vtkRenderWindowInteractor::New(); //初始化vtkwindow交互的对象 
    m_viewer->resetCamera();//使点云显示在屏幕中间，并绕中心操作
    CRect rect;
    GetClientRect(&rect);//实时获取MFC窗口大小
    m_win->SetSize(rect.right - rect.left, rect.bottom - rect.top);//根据当前窗口的大小设置vtk 窗口的大小
    CWnd *viewer_pcWnd;
    viewer_pcWnd = this->GetDlgItem(IDC_PCDVIEW);//获取对应的wnd
    m_win->SetParentId(viewer_pcWnd->m_hWnd);//设置vtk窗口的句柄
    m_iren->SetRenderWindow(m_win);//将vtk交互对象与vtk window绑定 
    m_viewer->createInteractor();
    m_win->Render();//开始渲染
    return TRUE;  // 除非将焦点设置到控件，否则返回 TRUE
}

最后结果

运行点击打开选了一个bunny.pcd打开显示这样就这么简单搞定了根本不需要网上的其他什么MFC教程又要cmake编译啊又要单文档得（TMen都是呆子）

(bunny.pcd文件不要找我拿你都要显示点云了一个点云文件没有？那你心里可能没有点B数啊)

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