VS2015配合QVTKWidget显示点云数据

太过爱你忘了你带给我的痛 2022-01-11 04:15 571阅读 0赞

## 1、准备工作 ##

确保电脑上安装了Qt，Vs2015，以及Qt在VS中的插件，我的Qt版本是5.10

安装了PCL，路径中不要有空格，我的安装路径是**C:\\PCL1.8.1**，VTK放在**C:\\PCL1.8.1\\3rdParty\\VTK**

下载编译好的VTK8.0，[https://download.csdn.net/download/hb\_programmer/11248928  ][https_download.csdn.net_download_hb_programmer_11248928]

将**C:\\PCL1.8.1\\3rdParty\\VTK**目录删除，用这里下载的vtk替换，然后将**QVTKWidgetPlugin.dll**放到C:\\Qt\\Qt5.10.0\\5.10.0\\msvc2015\_64\\plugins\\designer

## 2、新建VS\_Qt\_GUI项目 ##

默认即可，进入项目，打开ui，在左侧最下方可以看到**QVTKWidget**，将其拖到界面中

![20190619163916446.png][]

## 3、首先在头文件中添加下面几行 ##

#ifndef INITIAL_OPENGL
    #define INITIAL_OPENGL
    #include <vtkAutoInit.h>
    VTK_MODULE_INIT(vtkRenderingOpenGL)
    VTK_MODULE_INIT(vtkInteractionStyle)
    #endif
    
    #include <vtkRenderWindow.h>

打开**项目属性**，按以下方式添加

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0hCX1Byb2dyYW1tZXI_size_16_color_FFFFFF_t_70][]

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0hCX1Byb2dyYW1tZXI_size_16_color_FFFFFF_t_70 1][]

![20190619164547194.png][]

附加依赖项太长，拷贝下面的即可

pcl_tracking_release.lib
    pcl_stereo_release.lib
    pcl_people_release.lib
    pcl_surface_release.lib
    pcl_segmentation_release.lib
    pcl_outofcore_release.lib
    pcl_keypoints_release.lib
    pcl_recognition_release.lib
    pcl_visualization_release.lib
    pcl_ml_release.lib
    pcl_registration_release.lib
    pcl_features_release.lib
    pcl_io_release.lib
    pcl_io_ply_release.lib
    pcl_filters_release.lib
    pcl_search_release.lib
    pcl_sample_consensus_release.lib
    pcl_octree_release.lib
    pcl_kdtree_release.lib
    pcl_common_release.lib
    libboost_atomic-vc140-mt-1_64.lib
    libboost_atomic-vc140-mt-gd-1_64.lib
    libboost_bzip2-vc140-mt-1_64.lib
    libboost_bzip2-vc140-mt-gd-1_64.lib
    libboost_chrono-vc140-mt-1_64.lib
    libboost_chrono-vc140-mt-gd-1_64.lib
    libboost_container-vc140-mt-1_64.lib
    libboost_container-vc140-mt-gd-1_64.lib
    libboost_context-vc140-mt-1_64.lib
    libboost_context-vc140-mt-gd-1_64.lib
    libboost_coroutine-vc140-mt-1_64.lib
    libboost_coroutine-vc140-mt-gd-1_64.lib
    libboost_date_time-vc140-mt-1_64.lib
    libboost_date_time-vc140-mt-gd-1_64.lib
    libboost_exception-vc140-mt-1_64.lib
    libboost_exception-vc140-mt-gd-1_64.lib
    libboost_fiber-vc140-mt-1_64.lib
    libboost_fiber-vc140-mt-gd-1_64.lib
    libboost_filesystem-vc140-mt-1_64.lib
    libboost_filesystem-vc140-mt-gd-1_64.lib
    libboost_graph_parallel-vc140-mt-1_64.lib
    libboost_graph_parallel-vc140-mt-gd-1_64.lib
    libboost_graph-vc140-mt-1_64.lib
    libboost_graph-vc140-mt-gd-1_64.lib
    libboost_iostreams-vc140-mt-1_64.lib
    libboost_iostreams-vc140-mt-gd-1_64.lib
    libboost_locale-vc140-mt-1_64.lib
    libboost_locale-vc140-mt-gd-1_64.lib
    libboost_log_setup-vc140-mt-1_64.lib
    libboost_log_setup-vc140-mt-gd-1_64.lib
    libboost_log-vc140-mt-1_64.lib
    libboost_log-vc140-mt-gd-1_64.lib
    libboost_math_c99f-vc140-mt-1_64.lib
    libboost_math_c99f-vc140-mt-gd-1_64.lib
    libboost_math_c99l-vc140-mt-1_64.lib
    libboost_math_c99l-vc140-mt-gd-1_64.lib
    libboost_math_c99-vc140-mt-1_64.lib
    libboost_math_c99-vc140-mt-gd-1_64.lib
    libboost_math_tr1f-vc140-mt-1_64.lib
    libboost_math_tr1f-vc140-mt-gd-1_64.lib
    libboost_math_tr1l-vc140-mt-1_64.lib
    libboost_math_tr1l-vc140-mt-gd-1_64.lib
    libboost_math_tr1-vc140-mt-1_64.lib
    libboost_math_tr1-vc140-mt-gd-1_64.lib
    libboost_mpi-vc140-mt-1_64.lib
    libboost_mpi-vc140-mt-gd-1_64.lib
    libboost_numpy3-vc140-mt-1_64.lib
    libboost_numpy3-vc140-mt-gd-1_64.lib
    libboost_numpy-vc140-mt-1_64.lib
    libboost_numpy-vc140-mt-gd-1_64.lib
    libboost_prg_exec_monitor-vc140-mt-1_64.lib
    libboost_prg_exec_monitor-vc140-mt-gd-1_64.lib
    libboost_program_options-vc140-mt-1_64.lib
    libboost_program_options-vc140-mt-gd-1_64.lib
    libboost_python3-vc140-mt-1_64.lib
    libboost_python3-vc140-mt-gd-1_64.lib
    libboost_python-vc140-mt-1_64.lib
    libboost_python-vc140-mt-gd-1_64.lib
    libboost_random-vc140-mt-1_64.lib
    libboost_random-vc140-mt-gd-1_64.lib
    libboost_regex-vc140-mt-1_64.lib
    libboost_regex-vc140-mt-gd-1_64.lib
    libboost_serialization-vc140-mt-1_64.lib
    libboost_serialization-vc140-mt-gd-1_64.lib
    libboost_signals-vc140-mt-1_64.lib
    libboost_signals-vc140-mt-gd-1_64.lib
    libboost_system-vc140-mt-1_64.lib
    libboost_system-vc140-mt-gd-1_64.lib
    libboost_test_exec_monitor-vc140-mt-1_64.lib
    libboost_test_exec_monitor-vc140-mt-gd-1_64.lib
    libboost_thread-vc140-mt-1_64.lib
    libboost_thread-vc140-mt-gd-1_64.lib
    libboost_timer-vc140-mt-1_64.lib
    libboost_timer-vc140-mt-gd-1_64.lib
    libboost_type_erasure-vc140-mt-1_64.lib
    libboost_type_erasure-vc140-mt-gd-1_64.lib
    libboost_unit_test_framework-vc140-mt-1_64.lib
    libboost_unit_test_framework-vc140-mt-gd-1_64.lib
    libboost_wave-vc140-mt-1_64.lib
    libboost_wave-vc140-mt-gd-1_64.lib
    libboost_wserialization-vc140-mt-1_64.lib
    libboost_wserialization-vc140-mt-gd-1_64.lib
    libboost_zlib-vc140-mt-1_64.lib
    libboost_zlib-vc140-mt-gd-1_64.lib
    flann.lib
    flann_cpp.lib
    flann_cpp_s.lib
    flann_cpp_s-gd.lib
    flann_cpp-gd.lib
    flann_s.lib
    flann_s-gd.lib
    flann-gd.lib
    qhull.lib
    qhull_d.lib
    qhull_p.lib
    qhull_p_d.lib
    qhull_r.lib
    qhull_r_d.lib
    qhullcpp.lib
    qhullcpp_d.lib
    qhullstatic.lib
    qhullstatic_d.lib
    qhullstatic_r.lib
    qhullstatic_r_d.lib
    vtkalglib-8.0.lib
    vtkChartsCore-8.0.lib
    vtkCommonColor-8.0.lib
    vtkCommonComputationalGeometry-8.0.lib
    vtkCommonCore-8.0.lib
    vtkCommonDataModel-8.0.lib
    vtkCommonExecutionModel-8.0.lib
    vtkCommonMath-8.0.lib
    vtkCommonMisc-8.0.lib
    vtkCommonSystem-8.0.lib
    vtkCommonTransforms-8.0.lib
    vtkDICOMParser-8.0.lib
    vtkDomainsChemistry-8.0.lib
    vtkexoIIc-8.0.lib
    vtkexpat-8.0.lib
    vtkFiltersAMR-8.0.lib
    vtkFiltersCore-8.0.lib
    vtkFiltersExtraction-8.0.lib
    vtkFiltersFlowPaths-8.0.lib
    vtkFiltersGeneral-8.0.lib
    vtkFiltersGeneric-8.0.lib
    vtkFiltersGeometry-8.0.lib
    vtkFiltersHybrid-8.0.lib
    vtkFiltersHyperTree-8.0.lib
    vtkFiltersImaging-8.0.lib
    vtkFiltersModeling-8.0.lib
    vtkFiltersParallel-8.0.lib
    vtkFiltersParallelImaging-8.0.lib
    vtkFiltersPoints-8.0.lib
    vtkFiltersProgrammable-8.0.lib
    vtkFiltersSelection-8.0.lib
    vtkFiltersSMP-8.0.lib
    vtkFiltersSources-8.0.lib
    vtkFiltersStatistics-8.0.lib
    vtkFiltersTexture-8.0.lib
    vtkFiltersTopology-8.0.lib
    vtkFiltersVerdict-8.0.lib
    vtkfreetype-8.0.lib
    vtkGeovisCore-8.0.lib
    vtkgl2ps-8.0.lib
    vtkGUISupportQt-8.0.lib
    vtkGUISupportQtOpenGL-8.0.lib
    vtkGUISupportQtSQL-8.0.lib
    vtkhdf5_hl-8.0.lib
    vtkhdf5-8.0.lib
    vtkImagingColor-8.0.lib
    vtkImagingCore-8.0.lib
    vtkImagingFourier-8.0.lib
    vtkImagingGeneral-8.0.lib
    vtkImagingHybrid-8.0.lib
    vtkImagingMath-8.0.lib
    vtkImagingMorphological-8.0.lib
    vtkImagingSources-8.0.lib
    vtkImagingStatistics-8.0.lib
    vtkImagingStencil-8.0.lib
    vtkInfovisCore-8.0.lib
    vtkInfovisLayout-8.0.lib
    vtkInteractionImage-8.0.lib
    vtkInteractionStyle-8.0.lib
    vtkInteractionWidgets-8.0.lib
    vtkIOAMR-8.0.lib
    vtkIOCore-8.0.lib
    vtkIOEnSight-8.0.lib
    vtkIOExodus-8.0.lib
    vtkIOExport-8.0.lib
    vtkIOExportOpenGL-8.0.lib
    vtkIOGeometry-8.0.lib
    vtkIOImage-8.0.lib
    vtkIOImport-8.0.lib
    vtkIOInfovis-8.0.lib
    vtkIOLegacy-8.0.lib
    vtkIOLSDyna-8.0.lib
    vtkIOMINC-8.0.lib
    vtkIOMovie-8.0.lib
    vtkIONetCDF-8.0.lib
    vtkIOParallel-8.0.lib
    vtkIOParallelXML-8.0.lib
    vtkIOPLY-8.0.lib
    vtkIOSQL-8.0.lib
    vtkIOTecplotTable-8.0.lib
    vtkIOVideo-8.0.lib
    vtkIOXML-8.0.lib
    vtkIOXMLParser-8.0.lib
    vtkjpeg-8.0.lib
    vtkjsoncpp-8.0.lib
    vtklibharu-8.0.lib
    vtklibxml2-8.0.lib
    vtklz4-8.0.lib
    vtkmetaio-8.0.lib
    vtknetcdf_c++.lib
    vtkNetCDF-8.0.lib
    vtkoggtheora-8.0.lib
    vtkParallelCore-8.0.lib
    vtkpng-8.0.lib
    vtkproj4-8.0.lib
    vtkRenderingAnnotation-8.0.lib
    vtkRenderingContext2D-8.0.lib
    vtkRenderingContextOpenGL-8.0.lib
    vtkRenderingCore-8.0.lib
    vtkRenderingFreeType-8.0.lib
    vtkRenderingGL2PS-8.0.lib
    vtkRenderingImage-8.0.lib
    vtkRenderingLabel-8.0.lib
    vtkRenderingLIC-8.0.lib
    vtkRenderingLOD-8.0.lib
    vtkRenderingOpenGL-8.0.lib
    vtkRenderingQt-8.0.lib
    vtkRenderingVolume-8.0.lib
    vtkRenderingVolumeOpenGL-8.0.lib
    vtksqlite-8.0.lib
    vtksys-8.0.lib
    vtktiff-8.0.lib
    vtkverdict-8.0.lib
    vtkViewsContext2D-8.0.lib
    vtkViewsCore-8.0.lib
    vtkViewsInfovis-8.0.lib
    vtkViewsQt-8.0.lib
    vtkzlib-8.0.lib

调试为release  x64

![20190619164718373.png][]

实例：

头文件：

#pragma once
    
    #include <QtWidgets/QMainWindow>
    #include "ui_Qt_PCL_Test.h"
    
    #ifndef INITIAL_OPENGL
    #define INITIAL_OPENGL
    #include <vtkAutoInit.h>
    VTK_MODULE_INIT(vtkRenderingOpenGL)
    VTK_MODULE_INIT(vtkInteractionStyle)
    #endif
    
    #include <QFileDialog>
    
    #include <vtkRenderWindow.h>
    #include <pcl/io/pcd_io.h>
    #include <pcl/point_types.h>
    #include <pcl/visualization/pcl_visualizer.h>
    
    
    class Qt_PCL_Test : public QMainWindow
    {
    	Q_OBJECT
    
    public:
    	Qt_PCL_Test(QWidget *parent = Q_NULLPTR);
    
    private:
    	Ui::Qt_PCL_TestClass ui;
    
    	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
    	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
    	void initialVtkWidget();
    
    private slots:
    	void onOpen();
    
    
    
    };

cpp文件：

#include "Qt_PCL_Test.h"
    
    
    Qt_PCL_Test::Qt_PCL_Test(QWidget *parent)
    	: QMainWindow(parent)
    {
    	ui.setupUi(this);
    
    	initialVtkWidget();
    	connect(ui.actionOpen, SIGNAL(triggered()), this, SLOT(onOpen()));
    }
    
    void Qt_PCL_Test::initialVtkWidget()
    {
    	cloud.reset(new pcl::PointCloud<pcl::PointXYZ>);
    	viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));
    	viewer->addPointCloud(cloud, "cloud");
    	ui.qvtkWidget->SetRenderWindow(viewer->getRenderWindow());
    	viewer->setupInteractor(ui.qvtkWidget->GetInteractor(), ui.qvtkWidget->GetRenderWindow());
    	ui.qvtkWidget->update();
    }
    
    void Qt_PCL_Test::onOpen()
    {
    	QString fileName = QFileDialog::getOpenFileName(this, "Open PointCloud", ".", "Open PCD files(*.pcd)");
    	if (!fileName.isEmpty())
    	{
    		std::string file_name = fileName.toStdString();
    
    		//sensor_msgs::PointCloud2 cloud2;
    
    		pcl::PCLPointCloud2 cloud2;
    
    		//pcl::PointCloud<Eigen::MatrixXf> cloud2;
    
    		Eigen::Vector4f origin;
    		Eigen::Quaternionf orientation;
    		int pcd_version;
    		int data_type;
    		unsigned int data_idx;
    		int offset = 0;
    		pcl::PCDReader rd;
    		rd.readHeader(file_name, cloud2, origin, orientation, pcd_version, data_type, data_idx);
    		if (data_type == 0)
    
    		{
    			pcl::io::loadPCDFile(fileName.toStdString(), *cloud);
    		}
    
    		else if (data_type == 2)
    		{
    			pcl::PCDReader reader;
    			reader.read<pcl::PointXYZ>(fileName.toStdString(), *cloud);
    		}
    		viewer->updatePointCloud(cloud, "cloud");
    		viewer->resetCamera();
    		ui.qvtkWidget->update();
    	}
    }

最终效果：

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0hCX1Byb2dyYW1tZXI_size_16_color_FFFFFF_t_70 2][]

[https_download.csdn.net_download_hb_programmer_11248928]: https://download.csdn.net/download/hb_programmer/11248928
[20190619163916446.png]: /images/20220111/8c1f33d8a8074d399ef1c0ac5e970cff.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0hCX1Byb2dyYW1tZXI_size_16_color_FFFFFF_t_70]: /images/20220111/a4173c0a8fa34a4e95fce9e112ebd123.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0hCX1Byb2dyYW1tZXI_size_16_color_FFFFFF_t_70 1]: /images/20220111/276a9f5a87d44b64adcde62ef63276e0.png
[20190619164547194.png]: /images/20220111/79f3ad2885bf47709c6056eeca9d51b7.png
[20190619164718373.png]: /images/20220111/affcc38c27a648ff9e29cc47ee93e80f.png
[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0hCX1Byb2dyYW1tZXI_size_16_color_FFFFFF_t_70 2]: /images/20220111/3143bdb08da84b9db300abdab3f017b2.png