Qt中显示点云文件

最新推荐文章于 2025-03-11 00:50:43 发布

z_muyangren

最新推荐文章于 2025-03-11 00:50:43 发布

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分类专栏： slam相关

本文链接：https://blog.youkuaiyun.com/z_muyangren/article/details/105397727

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使用系统及相关软件版本：

系统：ubuntu16.04

软件版本：Qt5.4.2、Vtk6.2、pcl1.7

1、安装qt，官网下载.bin或.run文件运行安装即可

2、安装或编译vtk

a、编译

vtk可通过apt-get安装，但没有libQVTKWidgetPlugin.so，该库为支持QVTKWidget控件的插件动态库，需编译生成

从http://www.vtk.org/download/下载VTK并解压，在vtk文件夹中建立build

mkdir build
cd build
cmake -DVTK_QT_VERSION:STRING=5  -DQT_QMAKE_EXECUTABLE:PATH=/home/muyangren/Qt5.4.2/5.4/gcc_64/bin/qmake -DVTK_Group_Qt:BOOL=ON -DCMAKE_PREFIX_PATH:PATH=/home/muyangren/Qt5.4.2/5.4/gcc_64/lib/cmake -DBUILD_SHARED_LIBS:BOOL=ON ../
sudo make
sudo make install

b、复制libQVTKWidgetPlugin.so到相应目录

cp libQVTKWidgetPlugin.so /home/muyangren/Qt5.4.2/5.4/gcc_64/plugins/designe
cp libQVTKWidgetPlugin.so /home/muyangren/Qt5.4.2/Tools/QtCreator/lib/qtcreator/plugins
cp libQVTKWidgetPlugin.so  /home/muyangren/Qt5.4.2/Tools/QtCreator/bin/plugins/designer

3、安装或编译pcl

在github下载压缩包并解压
https://github.com/PointCloudLibrary/pcl/releases

mkdir build
cd build/
cmake -DCMAKE_BUILD_TYPE=RELEASE BUILD_GPU=ON ..
sudo make -j2
sudo make install

4、主要代码，来自pcl源码的example

目录为/pcl-pcl-1.7.2/doc/tutorials/content/sources/qt_visualizer

部分代码如下：

#ifndef PCLVIEWER_H
#define PCLVIEWER_H

#include <iostream>

// Qt
#include <QMainWindow>

// Point Cloud Library
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>

// Visualization Toolkit (VTK)
#include <vtkRenderWindow.h>

typedef pcl::PointXYZRGBA PointT;
typedef pcl::PointCloud<PointT> PointCloudT;

namespace Ui
{
  class PCLViewer;
}

class PCLViewer : public QMainWindow
{
  Q_OBJECT

public:
  explicit PCLViewer (QWidget *parent = 0);
  ~PCLViewer ();

public slots:
  void
  randomButtonPressed ();

protected:
  boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer ;
  //pcl::visualization::PCLVisualizer *viewer;
  PointCloudT::Ptr cloud;

  unsigned int red;
  unsigned int green;
  unsigned int blue;

private:
  Ui::PCLViewer *ui;

};

#endif // PCLVIEWER_H

PCLViewer::PCLViewer (QWidget *parent) :
  QMainWindow (parent),
  ui (new Ui::PCLViewer)
  //viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"))
{
  ui->setupUi (this);
  this->setWindowTitle ("PCL viewer");

  // Setup the cloud pointer
  cloud.reset (new PointCloudT);
  // The number of points in the cloud
  cloud->points.resize (200);

  // The default color
  red   = 128;
  green = 128;
  blue  = 128;

  // Fill the cloud with some points
  for (size_t i = 0; i < cloud->points.size (); ++i)
  {
    cloud->points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
    cloud->points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
    cloud->points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);

    cloud->points[i].r = red;
    cloud->points[i].g = green;
    cloud->points[i].b = blue;
  }

  // Set up the QVTK window
  viewer.reset (new pcl::visualization::PCLVisualizer ("viewer", false));
  ui->qvtkWidget->SetRenderWindow (viewer->getRenderWindow());
  viewer->setupInteractor (ui->qvtkWidget->GetInteractor (), ui->qvtkWidget->GetRenderWindow ());
  ui->qvtkWidget->update ();
  // Connect "random" button and the function
  connect (ui->pushButton_random,  SIGNAL (clicked ()), this, SLOT (randomButtonPressed ()));
  // Connect R,G,B sliders and their functions
  connect (ui->horizontalSlider_R, SIGNAL (valueChanged (int)), this, SLOT (redSliderValueChanged (int)));
  connect (ui->horizontalSlider_G, SIGNAL (valueChanged (int)), this, SLOT (greenSliderValueChanged (int)));
  connect (ui->horizontalSlider_B, SIGNAL (valueChanged (int)), this, SLOT (blueSliderValueChanged (int)));
  connect (ui->horizontalSlider_R, SIGNAL (sliderReleased ()), this, SLOT (RGBsliderReleased ()));
  connect (ui->horizontalSlider_G, SIGNAL (sliderReleased ()), this, SLOT (RGBsliderReleased ()));
  connect (ui->horizontalSlider_B, SIGNAL (sliderReleased ()), this, SLOT (RGBsliderReleased ()));

  // Connect point size slider
  connect (ui->horizontalSlider_p, SIGNAL (valueChanged (int)), this, SLOT (pSliderValueChanged (int)));
  viewer->addPointCloud (cloud, "cloud");
  pSliderValueChanged (2);
  viewer->resetCamera ();
  ui->qvtkWidget->update ();
}

5、编译demo

Qt的.pro文件，如下：

#-------------------------------------------------
#
# Project created by QtCreator 2014-05-01T14:24:33
#
#-------------------------------------------------

#QT       += core gui
#greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
QT += core
QT += gui
QT += widgets
QT += multimedia

#CONFIG += C++11

TARGET = pcl_visualizer
TEMPLATE = app


SOURCES += main.cpp\
        pclviewer.cpp

HEADERS  += pclviewer.h

FORMS    += pclviewer.ui

QMAKE_LFLAGS += -Wl,--rpath=/usr/local/lib

INCLUDEPATH += /usr/include/pcl-1.7 \
          /usr/include/eigen3/ \
          /usr/include/vtk-6.2/

LIBS += -L/usr/lib/x86_64-linux-gnu/ \
        -lboost_system \
        -lboost_thread \
        -lpcl_common \
        -lpcl_search \
        -lpcl_features \
        -lpcl_segmentation \
        -lpcl_recognition \
        -lpcl_visualization \
        -L/usr/lib/x86_64-linux-gnu/ \
        -lvtkRenderingCore-6.2 \
        -lvtkCommonDataModel-6.2 \
        -lvtkCommonMath-6.2 \
        -lvtkCommonCore-6.2 \
        -lvtkGUISupportQt-6.2

note：编译时遇到问题及解决办法

/home/muyangren/QtProjects/qt_visualizer/build-pcl_visualizer-Desktop_Qt_5_4_2_GCC_64bit-Debug/ui_pclviewer.h:55: error: undefined reference to `QVTKWidget::QVTKWidget(QWidget*, QFlags<Qt::WindowType>)'
当出现undefined reference to `QVTKWidget::QVTKWidget(QWidget*, QFlags<Qt::WindowType>)‘的错误时引入：libvtkGUISupportQt-6.2这个库

编译后链接库如下：

muyangren@muyangren-N85-87HP6:~/QtProjects/qt_visualizer/build-pcl_visualizer-Desktop_Qt_5_4_2_GCC_64bit-Debug$ ldd pcl_visualizer 
	linux-vdso.so.1 =>  (0x00007fffa3dc1000)
	libboost_system.so.1.58.0 => /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0 (0x00007f183e612000)
	libpcl_common.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_common.so.1.7 (0x00007f183e358000)
	libpcl_visualization.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_visualization.so.1.7 (0x00007f183dfdf000)
	libvtkRenderingCore-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkRenderingCore-6.2.so.6.2 (0x00007f183db4b000)
	libvtkCommonDataModel-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkCommonDataModel-6.2.so.6.2 (0x00007f183d5dc000)
	libvtkCommonMath-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkCommonMath-6.2.so.6.2 (0x00007f183d3ba000)
	libvtkCommonCore-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkCommonCore-6.2.so.6.2 (0x00007f183ce8c000)
	libvtkGUISupportQt-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkGUISupportQt-6.2.so.6.2 (0x00007f183cc41000)
	libQt5Widgets.so.5 => /home/muyangren/Qt5.4.2/5.4/gcc_64/lib/libQt5Widgets.so.5 (0x00007f183c3bc000)
	libQt5Gui.so.5 => /home/muyangren/Qt5.4.2/5.4/gcc_64/lib/libQt5Gui.so.5 (0x00007f183bbf2000)
	libQt5Core.so.5 => /home/muyangren/Qt5.4.2/5.4/gcc_64/lib/libQt5Core.so.5 (0x00007f183b4b3000)
	libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x00007f183b131000)
	libm.so.6 => /lib/x86_64-linux-gnu/libm.so.6 (0x00007f183ae28000)
	libgcc_s.so.1 => /lib/x86_64-linux-gnu/libgcc_s.so.1 (0x00007f183ac12000)
	libc.so.6 => /lib/x86_64-linux-gnu/libc.so.6 (0x00007f183a848000)
	libpthread.so.0 => /lib/x86_64-linux-gnu/libpthread.so.0 (0x00007f183a62b000)
	libboost_thread.so.1.58.0 => /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.58.0 (0x00007f183a405000)
	libgomp.so.1 => /usr/lib/x86_64-linux-gnu/libgomp.so.1 (0x00007f183a1e3000)
	libboost_filesystem.so.1.58.0 => /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.58.0 (0x00007f1839fcb000)
	libpcl_io.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_io.so.1.7 (0x00007f1839b5c000)
	libpcl_kdtree.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_kdtree.so.1.7 (0x00007f1839829000)
	libvtkRenderingLOD-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkRenderingLOD-6.2.so.6.2 (0x00007f183960f000)
	libvtkViewsContext2D-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkViewsContext2D-6.2.so.6.2 (0x00007f18393fc000)
	libvtkIOPLY-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkIOPLY-6.2.so.6.2 (0x00007f18391e1000)
	libvtkRenderingVolumeOpenGL-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkRenderingVolumeOpenGL-6.2.so.6.2 (0x00007f1838f3a000)
	libvtkRenderingFreeTypeOpenGL-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkRenderingFreeTypeOpenGL-6.2.so.6.2 (0x00007f1838d28000)
	libvtkRenderingMatplotlib-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkRenderingMatplotlib-6.2.so.6.2 (0x00007f1838b17000)
	libvtkIOMPIParallel-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkIOMPIParallel-6.2.so.6.2 (0x00007f18388f0000)
	libvtkRenderingFreeTypeFontConfig-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkRenderingFreeTypeFontConfig-6.2.so.6.2 (0x00007f18386e6000)
	libvtkIOMPIImage-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkIOMPIImage-6.2.so.6.2 (0x00007f18384bd000)
	libGL.so.1 => /usr/lib/nvidia-384/libGL.so.1 (0x00007f183817b000)
	libvtkInteractionWidgets-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkInteractionWidgets-6.2.so.6.2 (0x00007f1837c53000)
	libvtkInteractionStyle-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkInteractionStyle-6.2.so.6.2 (0x00007f18379c7000)
	libvtkChartsCore-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkChartsCore-6.2.so.6.2 (0x00007f1837676000)
	libvtkRenderingAnnotation-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkRenderingAnnotation-6.2.so.6.2 (0x00007f183731e000)
	libvtkRenderingContextOpenGL-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkRenderingContextOpenGL-6.2.so.6.2 (0x00007f18370ef000)
	libvtkRenderingContext2D-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkRenderingContext2D-6.2.so.6.2 (0x00007f1836eaf000)
	libvtkImagingSources-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkImagingSources-6.2.so.6.2 (0x00007f1836c5d000)
	libvtkRenderingOpenGL-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkRenderingOpenGL-6.2.so.6.2 (0x00007f18367b5000)
	libvtkFiltersModeling-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkFiltersModeling-6.2.so.6.2 (0x00007f1836538000)
	libvtkRenderingFreeType-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkRenderingFreeType-6.2.so.6.2 (0x00007f1836275000)
	libvtkCommonColor-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkCommonColor-6.2.so.6.2 (0x00007f1836059000)
	libvtkFiltersExtraction-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkFiltersExtraction-6.2.so.6.2 (0x00007f1835d44000)
	libvtkImagingCore-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkImagingCore-6.2.so.6.2 (0x00007f1835967000)
	libvtkFiltersSources-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkFiltersSources-6.2.so.6.2 (0x00007f18356a1000)
	libvtkFiltersGeneral-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkFiltersGeneral-6.2.so.6.2 (0x00007f1835176000)
	libvtkFiltersCore-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkFiltersCore-6.2.so.6.2 (0x00007f1834bb8000)
	libvtkIOImage-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkIOImage-6.2.so.6.2 (0x00007f1834851000)
	libvtkCommonExecutionModel-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkCommonExecutionModel-6.2.so.6.2 (0x00007f18345a3000)
	libvtkCommonTransforms-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkCommonTransforms-6.2.so.6.2 (0x00007f1834374000)
	libvtkFiltersGeometry-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkFiltersGeometry-6.2.so.6.2 (0x00007f18340e5000)
	libvtkCommonComputationalGeometry-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkCommonComputationalGeometry-6.2.so.6.2 (0x00007f1833ea7000)
	libvtkCommonSystem-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkCommonSystem-6.2.so.6.2 (0x00007f1833c93000)
	libvtksys-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtksys-6.2.so.6.2 (0x00007f1833a4e000)
	libvtkCommonMisc-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkCommonMisc-6.2.so.6.2 (0x00007f1833838000)
	libgobject-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgobject-2.0.so.0 (0x00007f18335e5000)
	libglib-2.0.so.0 => /lib/x86_64-linux-gnu/libglib-2.0.so.0 (0x00007f18332d4000)
	libX11.so.6 => /usr/lib/x86_64-linux-gnu/libX11.so.6 (0x00007f1832f9a000)
	libicui18n.so.53 => /home/muyangren/Qt5.4.2/5.4/gcc_64/lib/libicui18n.so.53 (0x00007f1832b4e000)
	libicuuc.so.53 => /home/muyangren/Qt5.4.2/5.4/gcc_64/lib/libicuuc.so.53 (0x00007f18327c3000)
	libdl.so.2 => /lib/x86_64-linux-gnu/libdl.so.2 (0x00007f18325bf000)
	libgthread-2.0.so.0 => /usr/lib/x86_64-linux-gnu/libgthread-2.0.so.0 (0x00007f18323bd000)
	librt.so.1 => /lib/x86_64-linux-gnu/librt.so.1 (0x00007f18321b5000)
	/lib64/ld-linux-x86-64.so.2 (0x00007f183e816000)
	libboost_iostreams.so.1.58.0 => /usr/lib/x86_64-linux-gnu/libboost_iostreams.so.1.58.0 (0x00007f1831f9c000)
	libboost_chrono.so.1.58.0 => /usr/lib/x86_64-linux-gnu/libboost_chrono.so.1.58.0 (0x00007f1831d94000)
	libpcl_io_ply.so.1.7 => /usr/lib/x86_64-linux-gnu/libpcl_io_ply.so.1.7 (0x00007f1831b3e000)
	libpng12.so.0 => /usr/lib/x86_64-linux-gnu/libpng12.so.0 (0x00007f1831919000)
	libusb-1.0.so.0 => /lib/x86_64-linux-gnu/libusb-1.0.so.0 (0x00007f1831701000)
	libOpenNI.so.0 => /usr/lib/libOpenNI.so.0 (0x00007f1831485000)
	libvtkIOGeometry-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkIOGeometry-6.2.so.6.2 (0x00007f183113d000)
	libvtkIOLegacy-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkIOLegacy-6.2.so.6.2 (0x00007f1830e94000)
	libvtkIOCore-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkIOCore-6.2.so.6.2 (0x00007f1830c1d000)
	libvtkViewsCore-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkViewsCore-6.2.so.6.2 (0x00007f18309f1000)
	libvtkRenderingVolume-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkRenderingVolume-6.2.so.6.2 (0x00007f1830239000)
	libvtkftgl-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkftgl-6.2.so.6.2 (0x00007f183002e000)
	libvtkPythonInterpreter-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkPythonInterpreter-6.2.so.6.2 (0x00007f182fe23000)
	libvtkWrappingPython27Core-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkWrappingPython27Core-6.2.so.6.2 (0x00007f182fbf6000)
	libpython2.7.so.1.0 => /usr/lib/x86_64-linux-gnu/libpython2.7.so.1.0 (0x00007f182f668000)
	libmpi.so.12 => /usr/lib/libmpi.so.12 (0x00007f182f392000)
	libmpi_cxx.so.1 => /usr/lib/libmpi_cxx.so.1 (0x00007f182f177000)
	libvtkParallelCore-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkParallelCore-6.2.so.6.2 (0x00007f182ef28000)
	libfontconfig.so.1 => /usr/lib/x86_64-linux-gnu/libfontconfig.so.1 (0x00007f182ece5000)
	libfreetype.so.6 => /usr/lib/x86_64-linux-gnu/libfreetype.so.6 (0x00007f182ea3b000)
	libvtkParallelMPI-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkParallelMPI-6.2.so.6.2 (0x00007f182e816000)
	libnvidia-tls.so.384.130 => /usr/lib/nvidia-384/tls/libnvidia-tls.so.384.130 (0x00007f182e612000)
	libnvidia-glcore.so.384.130 => /usr/lib/nvidia-384/libnvidia-glcore.so.384.130 (0x00007f182c756000)
	libXext.so.6 => /usr/lib/x86_64-linux-gnu/libXext.so.6 (0x00007f182c544000)
	libvtkFiltersHybrid-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkFiltersHybrid-6.2.so.6.2 (0x00007f182c261000)
	libvtkImagingGeneral-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkImagingGeneral-6.2.so.6.2 (0x00007f182bf65000)
	libvtkInfovisCore-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkInfovisCore-6.2.so.6.2 (0x00007f182bc5f000)
	libvtkImagingHybrid-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkImagingHybrid-6.2.so.6.2 (0x00007f182b9f5000)
	libXt.so.6 => /usr/lib/x86_64-linux-gnu/libXt.so.6 (0x00007f182b78c000)
	libvtkFiltersStatistics-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkFiltersStatistics-6.2.so.6.2 (0x00007f182b500000)
	libjpeg.so.8 => /usr/lib/x86_64-linux-gnu/libjpeg.so.8 (0x00007f182b2a7000)
	libz.so.1 => /lib/x86_64-linux-gnu/libz.so.1 (0x00007f182b08d000)
	libtiff.so.5 => /usr/lib/x86_64-linux-gnu/libtiff.so.5 (0x00007f182ae18000)
	libvtkmetaio-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkmetaio-6.2.so.6.2 (0x00007f182ab83000)
	libvtkDICOMParser-6.2.so.6.2 => /usr/lib/x86_64-linux-gnu/libvtkDICOMParser-6.2.so.6.2 (0x00007f182a96b000)
	libffi.so.6 => /usr/lib/x86_64-linux-gnu/libffi.so.6 (0x00007f182a763000)
	libpcre.so.3 => /lib/x86_64-linux-gnu/libpcre.so.3 (0x00007f182a4f3000)
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muyangren@muyangren-N85-87HP6:~/QtProjects/qt_visualizer/build-pcl_visualizer-Desktop_Qt_5_4_2_GCC_64bit-Debug$