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Pcl联合Qt显示点云

article 2025/1/16 16:20:57

基于vs2022
勾选opengl，openglwidgets，并将widget控件提示为QVTKOpenGLNativeWidget
Qt_Pcls.h

#pragma once
#include <QtWidgets/QMainWindow>
#include "ui_Qt_Pcls.h"
#include <vtkGenericOpenGLRenderWindow.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
class Qt_Pcls : public QMainWindow
{
    Q_OBJECT
public:
    Qt_Pcls(QWidget* parent = nullptr);
    ~Qt_Pcls();
private:
    Ui::Qt_PclsClass ui;
    std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> cloud_vec;
    std::vector<int> cloud_index;
    pcl::PointCloud<pcl::PointXYZ> cloud;
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
    int point_size = 10;
private slots:
    void on_pushButton_clicked();
};

Qt_Pcls.cpp


#include "Qt_Pcls.h"
Qt_Pcls::Qt_Pcls(QWidget* parent)
    : QMainWindow(parent)
{
    ui.setupUi(this);
    viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));
    vtkNew<vtkGenericOpenGLRenderWindow> window;
    window->AddRenderer(viewer->getRendererCollection()->GetFirstRenderer());
    ui.qvtkwidget->setRenderWindow(window.Get());
    ui.qvtkwidget->update();
}
Qt_Pcls::~Qt_Pcls()
{}
void Qt_Pcls::on_pushButton_clicked()
{
    if (pcl::io::loadPCDFile<pcl::PointXYZ>("bunnys.pcd", cloud) == -1) //* load the file
    {
        qDebug() << "Couldn't read pcd file  \n";
        return;
    }
    int size = static_cast<int>(cloud.size());
    viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));
    vtkNew<vtkGenericOpenGLRenderWindow> window;
    window->AddRenderer(viewer->getRendererCollection()->GetFirstRenderer());
    ui.qvtkwidget->setRenderWindow(window.Get());
    viewer->addPointCloud<pcl::PointXYZ>(cloud.makeShared(), std::to_string(cloud_vec.size() - 1));
    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, point_size, std::to_string(cloud_vec.size() - 1));
    viewer->resetCamera();
    ui.qvtkwidget->update();
}

基于qt6.8
并将widget控件提示为QVTKOpenGLNativeWidget
pclqt.pro

QT       += core gui opengl openglwidgets
greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
CONFIG += c++17
SOURCES += \
    main.cpp \
    mainwindow.cpp
HEADERS += \
    mainwindow.h
FORMS += \
    mainwindow.ui
qnx: target.path = /tmp/$${TARGET}/bin
else: unix:!android: target.path = /opt/$${TARGET}/bin
!isEmpty(target.path): INSTALLS += target
DEFINES += BOOST_USE_WINDOWS_H NOMINMAX _CRT_SECURE_NO_DEPRECATE
QMAKE_CXXFLAGS += -fno-sanitize=all
QMAKE_CFLAGS += -fno-sanitize=all
QMAKE_CXXFLAGS -= /permissive-
PCL_ROOT        =   $$quote(D:/Program Files/PCL 1.14.0)
3rdParty_Qhull  =   $$quote(D:/Program Files/PCL 1.14.0/3rdParty/Qhull)
3rdParty_FLANN  =   $$quote(D:/Program Files/PCL 1.14.0/3rdParty/FLANN)
3rdParty_Boost  =   $$quote(D:/Program Files/PCL 1.14.0/3rdParty/Boost)
3rdParty_Eigen  =   $$quote(D:/Program Files/PCL 1.14.0/3rdParty/Eigen3)
3rdParty_VTK    =   $$quote(D:/Program Files/PCL 1.14.0/3rdParty/VTK Qt)
OpenNI_ROOT     =   $$quote(D:/Program Files/PCL 1.14.0/3rdParty/OpenNI2)
INCLUDEPATH += \
    $$PCL_ROOT/include/pcl-1.14 \
    $$3rdParty_Qhull/include \
    $$3rdParty_FLANN/include \
    $$3rdParty_Boost/include/boost-1_84 \
    $$3rdParty_Eigen/include/eigen3 \
    $$3rdParty_VTK/include/vtk-9.3\
    $$OpenNI_ROOT/Include
LIBS+= \
    -L$$PCL_ROOT/lib \
    -L$$3rdParty_Qhull/lib \
    -L$$3rdParty_FLANN/lib \
    -L$$3rdParty_Boost/lib \
    -L$$3rdParty_Eigen/lib \
    -L$$3rdParty_VTK/lib \
    -L$$OpenNI_ROOT/Lib
LIBS += -lOpenNI2
win32:CONFIG(release, debug|release): LIBS += \
    -lpcl_common \
    -lpcl_features \
    -lpcl_filters \
    -lpcl_io \
    -lpcl_io_ply \
    -lpcl_kdtree \
    -lpcl_keypoints \
    -lpcl_ml \
    -lpcl_octree \
    -lpcl_outofcore \
    -lpcl_people \
    -lpcl_recognition \
    -lpcl_registration \
    -lpcl_sample_consensus \
    -lpcl_search \
    -lpcl_segmentation \
    -lpcl_stereo \
    -lpcl_surface \
    -lpcl_tracking \
    -lpcl_visualization \
    --lvtkcgns-9.3 \
    -lvtkChartsCore-9.3 \
    -lvtkCommonColor-9.3 \
    -lvtkCommonComputationalGeometry-9.3 \
    -lvtkCommonCore-9.3 \
    -lvtkCommonDataModel-9.3 \
    -lvtkCommonExecutionModel-9.3 \
    -lvtkCommonMath-9.3 \
    -lvtkCommonMisc-9.3 \
    -lvtkCommonSystem-9.3 \
    -lvtkCommonTransforms-9.3 \
    -lvtkDICOMParser-9.3 \
    -lvtkDomainsChemistry-9.3 \
    -lvtkDomainsChemistryOpenGL2-9.3 \
    -lvtkdoubleconversion-9.3 \
    -lvtkexodusII-9.3 \
    -lvtkexpat-9.3 \
    -lvtkFiltersAMR-9.3 \
    -lvtkFiltersCellGrid-9.3 \
    -lvtkFiltersCore-9.3 \
    -lvtkFiltersExtraction-9.3 \
    -lvtkFiltersFlowPaths-9.3 \
    -lvtkFiltersGeneral-9.3 \
    -lvtkFiltersGeneric-9.3 \
    -lvtkFiltersGeometry-9.3 \
    -lvtkFiltersGeometryPreview-9.3 \
    -lvtkFiltersHybrid-9.3 \
    -lvtkFiltersHyperTree-9.3 \
    -lvtkFiltersImaging-9.3 \
    -lvtkFiltersModeling-9.3 \
    -lvtkFiltersParallel-9.3 \
    -lvtkFiltersParallelImaging-9.3 \
    -lvtkFiltersPoints-9.3 \
    -lvtkFiltersProgrammable-9.3 \
    -lvtkFiltersReduction-9.3 \
    -lvtkFiltersSelection-9.3 \
    -lvtkFiltersSMP-9.3 \
    -lvtkFiltersSources-9.3 \
    -lvtkFiltersStatistics-9.3 \
    -lvtkFiltersTensor-9.3 \
    -lvtkFiltersTexture-9.3 \
    -lvtkFiltersTopology-9.3 \
    -lvtkFiltersVerdict-9.3 \
    -lvtkfmt-9.3 \
    -lvtkfreetype-9.3 \
    -lvtkGeovisCore-9.3 \
    -lvtkgl2ps-9.3 \
    -lvtkglew-9.3 \
    -lvtkGUISupportQt-9.3 \
    -lvtkGUISupportQtQuick-9.3 \
    -lvtkGUISupportQtSQL-9.3 \
    -lvtkhdf5-9.3 \
    -lvtkhdf5_hl-9.3 \
    -lvtkImagingColor-9.3 \
    -lvtkImagingCore-9.3 \
    -lvtkImagingFourier-9.3 \
    -lvtkImagingGeneral-9.3 \
    -lvtkImagingHybrid-9.3 \
    -lvtkImagingMath-9.3 \
    -lvtkImagingMorphological-9.3 \
    -lvtkImagingSources-9.3 \
    -lvtkImagingStatistics-9.3 \
    -lvtkImagingStencil-9.3 \
    -lvtkInfovisCore-9.3 \
    -lvtkInfovisLayout-9.3 \
    -lvtkInteractionImage-9.3 \
    -lvtkInteractionStyle-9.3 \
    -lvtkInteractionWidgets-9.3 \
    -lvtkIOAMR-9.3 \
    -lvtkIOAsynchronous-9.3 \
    -lvtkIOCellGrid-9.3 \
    -lvtkIOCesium3DTiles-9.3 \
    -lvtkIOCGNSReader-9.3 \
    -lvtkIOChemistry-9.3 \
    -lvtkIOCityGML-9.3 \
    -lvtkIOCONVERGECFD-9.3 \
    -lvtkIOCore-9.3 \
    -lvtkIOEnSight-9.3 \
    -lvtkIOExodus-9.3 \
    -lvtkIOExport-9.3 \
    -lvtkIOExportGL2PS-9.3 \
    -lvtkIOExportPDF-9.3 \
    -lvtkIOFLUENTCFF-9.3 \
    -lvtkIOGeometry-9.3 \
    -lvtkIOHDF-9.3 \
    -lvtkIOImage-9.3 \
    -lvtkIOImport-9.3 \
    -lvtkIOInfovis-9.3 \
    -lvtkIOLegacy-9.3 \
    -lvtkIOLSDyna-9.3 \
    -lvtkIOMINC-9.3 \
    -lvtkIOMotionFX-9.3 \
    -lvtkIOMovie-9.3 \
    -lvtkIONetCDF-9.3 \
    -lvtkIOOggTheora-9.3 \
    -lvtkIOParallel-9.3 \
    -lvtkIOParallelXML-9.3 \
    -lvtkIOPLY-9.3 \
    -lvtkIOSegY-9.3 \
    -lvtkIOSQL-9.3 \
    -lvtkioss-9.3 \
    -lvtkIOTecplotTable-9.3 \
    -lvtkIOVeraOut-9.3 \
    -lvtkIOVideo-9.3 \
    -lvtkIOXML-9.3 \
    -lvtkIOXMLParser-9.3 \
    -lvtkjpeg-9.3 \
    -lvtkjsoncpp-9.3 \
    -lvtkkissfft-9.3 \
    -lvtklibharu-9.3 \
    -lvtklibproj-9.3 \
    -lvtklibxml2-9.3 \
    -lvtkloguru-9.3 \
    -lvtklz4-9.3 \
    -lvtklzma-9.3 \
    -lvtkmetaio-9.3 \
    -lvtknetcdf-9.3 \
    -lvtkogg-9.3 \
    -lvtkParallelCore-9.3 \
    -lvtkParallelDIY-9.3 \
    -lvtkpng-9.3 \
    -lvtkpugixml-9.3 \
    -lvtkRenderingAnnotation-9.3 \
    -lvtkRenderingCellGrid-9.3 \
    -lvtkRenderingContext2D-9.3 \
    -lvtkRenderingContextOpenGL2-9.3 \
    -lvtkRenderingCore-9.3 \
    -lvtkRenderingFreeType-9.3 \
    -lvtkRenderingGL2PSOpenGL2-9.3 \
    -lvtkRenderingHyperTreeGrid-9.3 \
    -lvtkRenderingImage-9.3 \
    -lvtkRenderingLabel-9.3 \
    -lvtkRenderingLICOpenGL2-9.3 \
    -lvtkRenderingLOD-9.3 \
    -lvtkRenderingOpenGL2-9.3 \
    -lvtkRenderingQt-9.3 \
    -lvtkRenderingSceneGraph-9.3 \
    -lvtkRenderingUI-9.3 \
    -lvtkRenderingVolume-9.3 \
    -lvtkRenderingVolumeOpenGL2-9.3 \
    -lvtkRenderingVtkJS-9.3 \
    -lvtksqlite-9.3 \
    -lvtksys-9.3 \
    -lvtkTestingRendering-9.3 \
    -lvtktheora-9.3 \
    -lvtktiff-9.3 \
    -lvtkverdict-9.3 \
    -lvtkViewsContext2D-9.3 \
    -lvtkViewsCore-9.3 \
    -lvtkViewsInfovis-9.3 \
    -lvtkViewsQt-9.3 \
    -lvtkWrappingTools-9.3 \
    -lvtkzlib-9.3
else:win32:CONFIG(debug, debug|release): LIBS += \
    -lpcl_commond \
    -lpcl_featuresd \
    -lpcl_filtersd \
    -lpcl_iod \
    -lpcl_io_plyd \
    -lpcl_kdtreed \
    -lpcl_keypointsd \
    -lpcl_mld \
    -lpcl_octreed \
    -lpcl_outofcored \
    -lpcl_peopled \
    -lpcl_recognitiond \
    -lpcl_registrationd \
    -lpcl_sample_consensusd \
    -lpcl_searchd \
    -lpcl_segmentationd \
    -lpcl_stereod \
    -lpcl_surfaced \
    -lpcl_trackingd \
    -lpcl_visualizationd \
    -lvtkcgns-9.3-gd \
    -lvtkChartsCore-9.3-gd \
    -lvtkCommonColor-9.3-gd \
    -lvtkCommonComputationalGeometry-9.3-gd \
    -lvtkCommonCore-9.3-gd \
    -lvtkCommonDataModel-9.3-gd \
    -lvtkCommonExecutionModel-9.3-gd \
    -lvtkCommonMath-9.3-gd \
    -lvtkCommonMisc-9.3-gd \
    -lvtkCommonSystem-9.3-gd \
    -lvtkCommonTransforms-9.3-gd \
    -lvtkDICOMParser-9.3-gd \
    -lvtkDomainsChemistry-9.3-gd \
    -lvtkDomainsChemistryOpenGL2-9.3-gd \
    -lvtkdoubleconversion-9.3-gd \
    -lvtkexodusII-9.3-gd \
    -lvtkexpat-9.3-gd \
    -lvtkFiltersAMR-9.3-gd \
    -lvtkFiltersCellGrid-9.3-gd \
    -lvtkFiltersCore-9.3-gd \
    -lvtkFiltersExtraction-9.3-gd \
    -lvtkFiltersFlowPaths-9.3-gd \
    -lvtkFiltersGeneral-9.3-gd \
    -lvtkFiltersGeneric-9.3-gd \
    -lvtkFiltersGeometry-9.3-gd \
    -lvtkFiltersGeometryPreview-9.3-gd \
    -lvtkFiltersHybrid-9.3-gd \
    -lvtkFiltersHyperTree-9.3-gd \
    -lvtkFiltersImaging-9.3-gd \
    -lvtkFiltersModeling-9.3-gd \
    -lvtkFiltersParallel-9.3-gd \
    -lvtkFiltersParallelImaging-9.3-gd \
    -lvtkFiltersPoints-9.3-gd \
    -lvtkFiltersProgrammable-9.3-gd \
    -lvtkFiltersReduction-9.3-gd \
    -lvtkFiltersSelection-9.3-gd \
    -lvtkFiltersSMP-9.3-gd \
    -lvtkFiltersSources-9.3-gd \
    -lvtkFiltersStatistics-9.3-gd \
    -lvtkFiltersTensor-9.3-gd \
    -lvtkFiltersTexture-9.3-gd \
    -lvtkFiltersTopology-9.3-gd \
    -lvtkFiltersVerdict-9.3-gd \
    -lvtkfmt-9.3-gd \
    -lvtkfreetype-9.3-gd \
    -lvtkGeovisCore-9.3-gd \
    -lvtkgl2ps-9.3-gd \
    -lvtkglew-9.3-gd \
    -lvtkGUISupportQt-9.3-gd \
    -lvtkGUISupportQtQuick-9.3-gd \
    -lvtkGUISupportQtSQL-9.3-gd \
    -lvtkhdf5-9.3-gd \
    -lvtkhdf5_hl-9.3-gd \
    -lvtkImagingColor-9.3-gd \
    -lvtkImagingCore-9.3-gd \
    -lvtkImagingFourier-9.3-gd \
    -lvtkImagingGeneral-9.3-gd \
    -lvtkImagingHybrid-9.3-gd \
    -lvtkImagingMath-9.3-gd \
    -lvtkImagingMorphological-9.3-gd \
    -lvtkImagingSources-9.3-gd \
    -lvtkImagingStatistics-9.3-gd \
    -lvtkImagingStencil-9.3-gd \
    -lvtkInfovisCore-9.3-gd \
    -lvtkInfovisLayout-9.3-gd \
    -lvtkInteractionImage-9.3-gd \
    -lvtkInteractionStyle-9.3-gd \
    -lvtkInteractionWidgets-9.3-gd \
    -lvtkIOAMR-9.3-gd \
    -lvtkIOAsynchronous-9.3-gd \
    -lvtkIOCellGrid-9.3-gd \
    -lvtkIOCesium3DTiles-9.3-gd \
    -lvtkIOCGNSReader-9.3-gd \
    -lvtkIOChemistry-9.3-gd \
    -lvtkIOCityGML-9.3-gd \
    -lvtkIOCONVERGECFD-9.3-gd \
    -lvtkIOCore-9.3-gd \
    -lvtkIOEnSight-9.3-gd \
    -lvtkIOExodus-9.3-gd \
    -lvtkIOExport-9.3-gd \
    -lvtkIOExportGL2PS-9.3-gd \
    -lvtkIOExportPDF-9.3-gd \
    -lvtkIOFLUENTCFF-9.3-gd \
    -lvtkIOGeometry-9.3-gd \
    -lvtkIOHDF-9.3-gd \
    -lvtkIOImage-9.3-gd \
    -lvtkIOImport-9.3-gd \
    -lvtkIOInfovis-9.3-gd \
    -lvtkIOLegacy-9.3-gd \
    -lvtkIOLSDyna-9.3-gd \
    -lvtkIOMINC-9.3-gd \
    -lvtkIOMotionFX-9.3-gd \
    -lvtkIOMovie-9.3-gd \
    -lvtkIONetCDF-9.3-gd \
    -lvtkIOOggTheora-9.3-gd \
    -lvtkIOParallel-9.3-gd \
    -lvtkIOParallelXML-9.3-gd \
    -lvtkIOPLY-9.3-gd \
    -lvtkIOSegY-9.3-gd \
    -lvtkIOSQL-9.3-gd \
    -lvtkioss-9.3-gd \
    -lvtkIOTecplotTable-9.3-gd \
    -lvtkIOVeraOut-9.3-gd \
    -lvtkIOVideo-9.3-gd \
    -lvtkIOXML-9.3-gd \
    -lvtkIOXMLParser-9.3-gd \
    -lvtkjpeg-9.3-gd \
    -lvtkjsoncpp-9.3-gd \
    -lvtkkissfft-9.3-gd \
    -lvtklibharu-9.3-gd \
    -lvtklibproj-9.3-gd \
    -lvtklibxml2-9.3-gd \
    -lvtkloguru-9.3-gd \
    -lvtklz4-9.3-gd \
    -lvtklzma-9.3-gd \
    -lvtkmetaio-9.3-gd \
    -lvtknetcdf-9.3-gd \
    -lvtkogg-9.3-gd \
    -lvtkParallelCore-9.3-gd \
    -lvtkParallelDIY-9.3-gd \
    -lvtkpng-9.3-gd \
    -lvtkpugixml-9.3-gd \
    -lvtkRenderingAnnotation-9.3-gd \
    -lvtkRenderingCellGrid-9.3-gd \
    -lvtkRenderingContext2D-9.3-gd \
    -lvtkRenderingContextOpenGL2-9.3-gd \
    -lvtkRenderingCore-9.3-gd \
    -lvtkRenderingFreeType-9.3-gd \
    -lvtkRenderingGL2PSOpenGL2-9.3-gd \
    -lvtkRenderingHyperTreeGrid-9.3-gd \
    -lvtkRenderingImage-9.3-gd \
    -lvtkRenderingLabel-9.3-gd \
    -lvtkRenderingLICOpenGL2-9.3-gd \
    -lvtkRenderingLOD-9.3-gd \
    -lvtkRenderingOpenGL2-9.3-gd \
    -lvtkRenderingQt-9.3-gd \
    -lvtkRenderingSceneGraph-9.3-gd \
    -lvtkRenderingUI-9.3-gd \
    -lvtkRenderingVolume-9.3-gd \
    -lvtkRenderingVolumeOpenGL2-9.3-gd \
    -lvtkRenderingVtkJS-9.3-gd \
    -lvtksqlite-9.3-gd \
    -lvtksys-9.3-gd \
    -lvtkTestingRendering-9.3-gd \
    -lvtktheora-9.3-gd \
    -lvtktiff-9.3-gd \
    -lvtkverdict-9.3-gd \
    -lvtkViewsContext2D-9.3-gd \
    -lvtkViewsCore-9.3-gd \
    -lvtkViewsInfovis-9.3-gd \
    -lvtkViewsQt-9.3-gd \
    -lvtkWrappingTools-9.3-gd \
    -lvtkzlib-9.3-gd \

mainwindow.h

#ifndef MAINWINDOW_H
#define MAINWINDOW_H
#include <QMainWindow>
#include <vtkGenericOpenGLRenderWindow.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
QT_BEGIN_NAMESPACE
namespace Ui {
class MainWindow;
}
QT_END_NAMESPACE
class MainWindow : public QMainWindow
{
    Q_OBJECT
public:
    MainWindow(QWidget *parent = nullptr);
    ~MainWindow();
    std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> cloud_vec;
    std::vector<int> cloud_index;
    pcl::PointCloud<pcl::PointXYZ> cloud;
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
    int point_size = 5;
private slots:
    void on_pushButton_clicked();
private:
    Ui::MainWindow *ui;
};
#endif

mainwindow.cpp

#include "mainwindow.h"
#include "ui_mainwindow.h"
MainWindow::MainWindow(QWidget *parent)
    : QMainWindow(parent)
    , ui(new Ui::MainWindow)
{
    ui->setupUi(this);
    viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));
    vtkNew<vtkGenericOpenGLRenderWindow> window;
    window->AddRenderer(viewer->getRendererCollection()->GetFirstRenderer());
    ui->qvtkwidget->setRenderWindow(window.Get());
    ui->qvtkwidget->update();
}
MainWindow::~MainWindow()
{
    delete ui;
}
void MainWindow::on_pushButton_clicked()
{
    if (pcl::io::loadPCDFile<pcl::PointXYZ>("./../../bunny.pcd", cloud) == -1) //* load the file
    {
        qDebug() << "Couldn't read pcd file  \n";
        return;
    }
    viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));
    vtkNew<vtkGenericOpenGLRenderWindow> window;
    window->AddRenderer(viewer->getRendererCollection()->GetFirstRenderer());
    ui->qvtkwidget->setRenderWindow(window.Get());
    viewer->addPointCloud<pcl::PointXYZ>(cloud.makeShared(), std::to_string(cloud_vec.size() - 1));
    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, point_size, std::to_string(cloud_vec.size() - 1));
    viewer->resetCamera();
    ui->qvtkwidget->update();
}

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