Qt上实时点云可视化

在qt上模拟ros去接收点云，并将点云数据3d可视化。不过本人并没有实现使用ros+qt的方法去订阅话题来获得点云，如有大佬实现可以留下链接。可以采用boost::asio去实现，这里采用简单易懂的tcp去接收点云。

服务端

服务器端是随机生成5000-10000个点云，并通过tcp发送给服务器。

tcp.cpp 

#include <QCoreApplication>
#include <QTcpServer>
#include <QTcpSocket>
#include <QThread>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/compression/octree_pointcloud_compression.h>
#include <pcl/io/io.h>

using PointCloud = pcl::PointCloud<pcl::PointXYZ>;

class Server : public QTcpServer {
    Q_OBJECT

public:
    Server(QObject *parent = nullptr) : QTcpServer(parent) {
        if (!this->listen(QHostAddress::Any, 1234)) {
            qCritical() << "Unable to start the server: " << this->errorString();
        } else {
            qDebug() << "Server started...";
        }
    }

protected:
    void incomingConnection(qintptr socketDescriptor) override {
        QTcpSocket *socket = new QTcpSocket(this);
        socket->setSocketDescriptor(socketDescriptor);
        connect(socket, &QTcpSocket::disconnected, socket, &QTcpSocket::deleteLater);
        sendPointCloud(socket);
    }

private slots:
    void sendPointCloud(QTcpSocket *socket) {
        while (socket->state() == QAbstractSocket::ConnectedState) {
            PointCloud::Ptr cloud(new PointCloud);
            generateRandomPointCloud(cloud, 5000 + qrand() % 5001);  // 生成5000到10000个点
            //压缩点云数据
            std::stringstream compressedData;
            pcl::io::OctreePointCloudCompression<pcl::PointXYZ>