VTK结合QT显示单个和多个点云

lkasi

已于 2024-08-20 16:45:33 修改

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分类专栏： QT 文章标签： qt 开发语言 Vtk C++

于 2024-05-08 14:55:04 首次发布

本文链接：https://blog.youkuaiyun.com/m0_51650696/article/details/138572305

版权

我的代码主要时将单个和多个点云使用VTK和QT显示，运用QVTKWidget控件。

显示单个点云

//单个点云可视化
void Visualize(pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud2){
    vtkSmartPointer<vtkPoints> m_points = vtkSmartPointer<vtkPoints>::New();

            for(int i = 0;i < cloud2->points.size();i++)
            {
                m_points->InsertNextPoint(cloud2->points[i].x,cloud2->points[i].y,cloud2->points[i].z);
            }
            m_points2->DeepCopy(m_points);
            std::cout << "可视化点云数量cloud2: " << cloud2->points.size() << std::endl;
            vtkSmartPointer<vtkPolyData> m_data = vtkSmartPointer<vtkPolyData>::New();
            m_data->SetPoints(m_points);
            vtkSmartPointer<vtkVertexGlyphFilter> m_vertexGlyphFilter = vtkSmartPointer<vtkVertexGlyphFilter>::New();
            m_vertexGlyphFilter->SetInputData(m_data);
            m_vertexGlyphFilter->Update();

        //数据类型转换物体
            vtkSmartPointer<vtkPolyDataMapper> m_dataMapper = vtkSmartPointer<vtkPolyDataMapper>::New();
            m_dataMapper->SetInputData(m_vertexGlyphFilter->GetOutput());
            m_dataMapper->Update();
        //演员
            vtkSmartPointer<vtkActor> m_actor = vtkSmartPointer<vtkActor>::New();
        //演员手持物体
            m_actor->SetMapper(m_dataMapper);
            if(color==1){
            m_actor->GetProperty()->SetColor(0, 0, 1);
            }