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

2021-11-14 01:48:43

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) == -)//*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, , , );

            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(, , );//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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