记录一下PCL与Qt结合的学习历程

代码实现

QVTK.h

#pragma once
#include <vtkAutoInit.h> 
VTK_MODULE_INIT(vtkRenderingOpenGL2);
VTK_MODULE_INIT(vtkInteractionStyle);

#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <boost/thread/thread.hpp>
#include <pcl/visualization/pcl_visualizer.h>
#include <QtWidgets/QMainWindow>
#include "ui_QVTK.h"

class QVTK : public QMainWindow
{
    Q_OBJECT

public:
    QVTK(QWidget *parent = 0);
    ~QVTK();

private:
    Ui::QVTKClass ui;
    //------------点云数据存储---------------
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;

    //------------初始化vtk部件--------------
    void initialVtkWidget();

private slots:
    //-------------创建打开槽----------------
    void onOpen();
};

QVTK.cpp

#include "QVTK.h"
#include <QFileDialog>
#include <iostream>
#include <vtkRenderWindow.h>
QVTK::QVTK(QWidget *parent)
    : QMainWindow(parent)
{
    ui.setupUi(this);
    //初始化
    initialVtkWidget();
    //连接信号和槽
    connect(ui.actionOpen, SIGNAL(clicked()), this, SLOT(onOpen()));
}

QVTK::~QVTK()
{

}

void QVTK::initialVtkWidget()
{
    cloud.reset(new pcl::PointCloud<pcl::PointXYZ>);
    viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));
    viewer->setBackgroundColor(0, 0, 0);  //设置背景颜色为黑色
    
    ui.qvtkWidget->SetRenderWindow(viewer->getRenderWindow());//****核心代码*****
    viewer->setupInteractor(ui.qvtkWidget->GetInteractor(), ui.qvtkWidget->GetRenderWindow());//******核心代码*******
 
    ui.qvtkWidget->update();
}

//---------------加载点云数据--------------------
void QVTK::onOpen()
{
    //只能打开PCD文件
    QString fileName = QFileDialog::getOpenFileName(this,
        tr("Open PointCloud"), ".",
        tr("Open PCD files(*.pcd)"));

    if (!fileName.isEmpty())
    {
        std::string file_name = fileName.toStdString();
   
            pcl::io::loadPCDFile(file_name, *cloud);
       
        //-----------------2---------------------
        //移除窗口点云(可实现添加多个点云)
        viewer->removeAllPointClouds();
        //设置点云颜色
        pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> cloud_color(cloud, 255, 0, 0);
        //点云颜色渲染	
        viewer->addPointCloud(cloud, cloud_color, "cloud");
        //设置点云大小
        viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "cloud");
        viewer->resetCamera();
        ui.qvtkWidget->update();

    }
}

main.cpp

#include "QVTK.h"
#include <QtWidgets/QApplication>
#include <vtkOutputWindow.h>
#include <QTextCodec>
int main(int argc, char *argv[])
{
    QTextCodec* code = QTextCodec::codecForName("GB2312");
    vtkOutputWindow::SetGlobalWarningDisplay(0);
    QApplication a(argc, argv);//定义并创建应用程序
    QVTK w;                    //定义并创建窗口
    w.show();                  //显示窗口
    return a.exec();           //应用程序运行
}

结果展示