Qt调用PCL库，在QWidget中显示点云

Qt 调用 Pcl库，在Widget中显示点云

最终效果展示

本人环境：Ubuntu18.04 / Qt 5.14.2 / PCL 1.8

下面介绍具体原理和实现步骤。

原理

其实核心就是这一行代码

将数据从pclviewer 传输到 QVTKWidget。

具体实现

1、.ui 设计

插入一个QWidget，然后右键QWidget => 提升为 => QVTKWidget (注意QVTKWidget.h区分大小写！！)

再新建四个horizontalSlider，分别命名为horizontalSlider_Red，horizontalSlider_Green，horizontalSlider_Blue，horizontalSlider_Size。用于控制点云的颜色和大小。

2、代码

.pro

QT       += core gui

greaterThan(QT_MAJOR_VERSION,4): QT += widgets

CONFIG += c++11

# 主要需要修改的部分在下方，注意库的地址！
# -------------------------------------------------------
INCLUDEPATH +=/usr/include/eigen3                                #注意路径可能不一样

INCLUDEPATH +=/usr/include/vtk-6.3
LIBS +=/usr/lib/x86_64-linux-gnu/libvtk*.so                    #注意路径可能不一样

INCLUDEPATH +=/usr/include/boost                                #注意路径可能不一样
LIBS +=/usr/lib/x86_64-linux-gnu/libboost_*.so        

INCLUDEPATH +=/usr/include/pcl-1.8                                #注意路径可能不一样
LIBS +=/usr/lib/x86_64-linux-gnu/libpcl_*.so
# -------------------------------------------------------

DEFINES += QT_DEPRECATED_WARNINGS

SOURCES += \
    main.cpp \
    qtpclviewer.cpp

HEADERS += \
    qtpclviewer.h

FORMS += \
    qtpclviewer.ui

# Default rules for deployment.
qnx: target.path =/tmp/$${TARGET}/bin
else: unix:!android: target.path =/opt/$${TARGET}/bin
!isEmpty(target.path): INSTALLS += target

qtpclviewer.h

#ifndef QTPCLVIEWER_H#define QTPCLVIEWER_H#include<QMainWindow>#include"ui_qtpclviewer.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>//QT_BEGIN_NAMESPACE//namespace Ui { class QtPclViewer; }//QT_END_NAMESPACEclassQtPclViewer:public QMainWindow
{
    Q_OBJECT

public:QtPclViewer(QWidget *parent =nullptr);~QtPclViewer();private:
    Ui::QtPclViewer *ui;// Ui::QtPclViewerClass ui;

    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;voidinitialVtkWidget();protected:unsigned red;unsigned green;unsigned blue;double size;private slots :voidonOpen();voidrgbSliderReleased();voidpSliderValueChangeed(int value);voidredSliderValueChangeed(int value);voidgreenSliderValueChangeed(int value);voidblueSliderValueChangeed(int value);};#endif// QTPCLVIEWER_H

main.cpp

#include"qtpclviewer.h"#include<QApplication>intmain(int argc,char*argv[]){
    QApplication a(argc, argv);
    QtPclViewer w;
    w.show();return a.exec();}

qtpclviewer.cpp

#include"qtpclviewer.h"#include"ui_qtpclviewer.h"

QtPclViewer::QtPclViewer(QWidget *parent):QMainWindow(parent),ui(new Ui::QtPclViewer){
    ui->setupUi(this);initialVtkWidget();onOpen();//    connect(ui.actionOpen, SIGNAL(triggered()), this, SLOT(onOpen()));connect(ui->horizontalSlider_Size,SIGNAL(valueChanged(int)),this,SLOT(pSliderValueChangeed(int)));//改变大小connect(ui->horizontalSlider_Red,SIGNAL(valueChanged(int)),this,SLOT(redSliderValueChangeed(int)));//颜色改变connect(ui->horizontalSlider_Green,SIGNAL(valueChanged(int)),this,SLOT(greenSliderValueChangeed(int)));connect(ui->horizontalSlider_Blue,SIGNAL(valueChanged(int)),this,SLOT(blueSliderValueChangeed(int)));connect(ui->horizontalSlider_Red,SIGNAL(sliderReleased()),this,SLOT(rgbSliderReleased()));//slider滑动connect(ui->horizontalSlider_Green,SIGNAL(sliderReleased()),this,SLOT(rgbSliderReleased()));connect(ui->horizontalSlider_Blue,SIGNAL(sliderReleased()),this,SLOT(rgbSliderReleased()));}

QtPclViewer::~QtPclViewer(){delete ui;}void QtPclViewer::initialVtkWidget(){//初始化颜色及大小信息
    red =255;
    green =255;
    blue =255;
    size =1.0;//点云加载
    cloud.reset(new pcl::PointCloud<pcl::PointXYZ>);
    viewer.reset(new pcl::visualization::PCLVisualizer("viewer",false));//viewer->addPointCloud(cloud, "cloud");
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ>single_color(cloud, red, green, blue);//自定义点云颜色
    viewer->addPointCloud<pcl::PointXYZ>(cloud, single_color,"cloud");
    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, size,"cloud");//设置点云单个点的大小
    ui->qvtkWidget->SetRenderWindow(viewer->getRenderWindow());
    viewer->setupInteractor(ui->qvtkWidget->GetInteractor(), ui->qvtkWidget->GetRenderWindow());
    ui->qvtkWidget->update();}void QtPclViewer::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;unsignedint 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);}elseif(data_type ==2){
            pcl::PCDReader reader;
            reader.read<pcl::PointXYZ>(fileName.toStdString(),*cloud);}// pcl::io::loadPCDFile("1_over.pcd",*cloud);qDebug("cloud->points.size: %ld", cloud->points.size());//重新加载点云//viewer->updatePointCloud(cloud, "cloud");
        pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ>single_color(cloud, red, green, blue);//自定义点云颜色
        viewer->updatePointCloud<pcl::PointXYZ>(cloud, single_color,"cloud");
        viewer->resetCamera();
        ui->qvtkWidget->update();}}void QtPclViewer::rgbSliderReleased(){//更新点云颜色
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ>single_color(cloud, red, green, blue);
    viewer->updatePointCloud<pcl::PointXYZ>(cloud, single_color,"cloud");
    ui->qvtkWidget->update();}void QtPclViewer::redSliderValueChangeed(int value){
    red= value;}void QtPclViewer::greenSliderValueChangeed(int value){
    green= value;}void QtPclViewer::blueSliderValueChangeed(int value){
    blue= value;}void QtPclViewer::pSliderValueChangeed(int value){
    size=double(10+value)/10;
    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, size,"cloud");//设置点云单个点的大小
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ>single_color(cloud, red, green, blue);
    viewer->updatePointCloud<pcl::PointXYZ>(cloud,single_color,"cloud");
    ui->qvtkWidget->update();}