QT+PCL+VS制作点云显示界面（彩色显示xyz点云）

前言：

最近正学习QVTKWidget插件显示点云，参考博文：https://blog.csdn.net/wokaowokaowokao12345/article/details/51078495
时发现其提供的官方编译样只能例打开XYZRGB的点云数据，而我的点云为XYZ格式的，故对其进行了小小的改进，使其彩色显示xyz点云。效果如下：

PCL+Qt+VTK+VS配置：

制作本程序需要安装pcl库，Qt，Visual Stdio，并配置vtk。其中vtk的编译与安装过程可以参考我的上一篇博文，里面有详细教程。

制作过程：

1.在VS中创建一个Qt工程，名为QtPclViewer

2.添加目录和依赖项，详细参考我的上一篇博文第5部分：https://blog.csdn.net/qinqinxiansheng/article/details/104202021

3.双击.ui文件，打开Qt Designer进行设计，主要包括菜单（File和Help，以及File下的Open）、一个QVTKWidget，四个滑块、数码管、标签。

4.在Qt Designer里进行简单设计
通过设计信号与槽，使数码管显示滑块的值（也可以用代码实现），并设置滑块条的范围和初始值。

5.设计程序
QtPclViewer.h

#pragma once#include <QtWidgets/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>class QtPclViewer : public QMainWindow
{Q_OBJECT public:QtPclViewer(QWidget *parent = Q_NULLPTR);private:Ui::QtPclViewerClass ui;pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;void initialVtkWidget();protected:unsigned red;unsigned green;unsigned blue;double size;private slots :void onOpen();void rgbSliderReleased( );void pSliderValueChangeed(int value); void redSliderValueChangeed(int value);void greenSliderValueChangeed(int value);void blueSliderValueChangeed(int value);
};

QtPclViewer.cpp

#include "QtPclViewer.h"QtPclViewer::QtPclViewer(QWidget *parent): QMainWindow(parent)
{ui.setupUi(this);initialVtkWidget();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( )));
}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;unsigned int 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);}else if (data_type == 2){pcl::PCDReader reader;reader.read<pcl::PointXYZ>(fileName.toStdString(), *cloud);}//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();
}

6.将解决方案配置为Release X64版本，运行结果如下所示。点击File–>Open打开xyz点云的.pcd文件，加载点云数据，之后滑动滑块可调节点云颜色和大小。

最后附上程序连接：https://download.csdn.net/download/qinqinxiansheng/12152456