下面说明下如何在Qt Creator的GUI界面上显示点云
前面有三篇博客讲了相关内容，这里在QTcreate编译器环境下再配置下PCL，并界面显示点云
至于QVTKWidgetPlugin.dll的获取及位置存放见前面系列博客
1. 新建一个test_QTcreator_show工程，界面上拖放一个Widget控件
2.右击控件，选择提升为，配置如下：
点击上图中的添加按钮
勾选上图中的复选框
然后在选择右下角的提升按钮，完毕。
再添加一个按钮，界面设计如下：
接下来进入test_QTcreator_show.pro，编辑后文件如下：
#-------------------------------------------------
#
# Project created by QtCreator 2020-10-31T15:48:04
#
#-------------------------------------------------
QT += core gui
greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
TARGET = test_QTcreator_show
TEMPLATE = app
# The following define makes your compiler emit warnings if you use
# any feature of Qt which has been marked as deprecated (the exact warnings
# depend on your compiler). Please consult the documentation of the
# deprecated API in order to know how to port your code away from it.
DEFINES += QT_DEPRECATED_WARNINGS
# You can also make your code fail to compile if you use deprecated APIs.
# In order to do so, uncomment the following line.
# You can also select to disable deprecated APIs only up to a certain version of Qt.
#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000 # disables all the APIs deprecated before Qt 6.0.0
CONFIG += c++11
SOURCES += \
main.cpp \
mainwindow.cpp
HEADERS += \
mainwindow.h
FORMS += \
mainwindow.ui
INCLUDEPATH += $$quote(C:/Qt/Qt5.12.1/5.12.1/msvc2017/include)
INCLUDEPATH += $$quote(C:/Qt/Qt5.12.1/5.12.1/msvc2017/include/QtWidgets)
INCLUDEPATH += $$quote(C:/Qt/Qt5.12.1/5.12.1/msvc2017/include/QtNetwork)
INCLUDEPATH += $$quote(C:/Qt/Qt5.12.1/5.12.1/msvc2017/include/QtCore)
INCLUDEPATH += $$quote(C:/Qt/Qt5.12.1/5.12.1/msvc2017/include/Qt3DInput)
INCLUDEPATH += $$quote(C:/Qt/Qt5.12.1/5.12.1/msvc2017/include/QtGui)
INCLUDEPATH += $$quote(C:/Program Files/PCL 1.8.1/include/pcl-1.8)
INCLUDEPATH += $$quote(C:/Program Files/PCL 1.8.1/3rdParty/Boost/include/boost-1_64)
INCLUDEPATH += $$quote(C:/Program Files/PCL 1.8.1/3rdParty/Qhull/include)
INCLUDEPATH += $$quote(C:/Program Files/PCL 1.8.1/3rdParty/FLANN/include/flann)
INCLUDEPATH += $$quote(C:/Program Files/PCL 1.8.1/3rdParty/Eigen/eigen3)
INCLUDEPATH += $$quote(C:/Program Files/PCL 1.8.1/3rdParty/VTK/include/vtk-8.0)
INCLUDEPATH += $$quote(C:/Program Files/PCL 1.8.1/3rdParty/FLANN/include)
CONFIG(debug,debug|release){
LIBS += -L$$quote(C:\Program Files\PCL 1.8.1\lib)\
-lpcl_common_debug\
-lpcl_features_debug\
-lpcl_filters_debug\
-lpcl_io_debug\
-lpcl_io_ply_debug\
-lpcl_kdtree_debug\
-lpcl_keypoints_debug\
-lpcl_ml_debug\
-lpcl_octree_debug\
-lpcl_outofcore_debug\
-lpcl_people_debug\
-lpcl_recognition_debug\
-lpcl_registration_debug\
-lpcl_sample_consensus_debug\
-lpcl_search_debug\
-lpcl_segmentation_debug\
-lpcl_stereo_debug\
-lpcl_surface_debug\
-lpcl_tracking_debug\
-lpcl_visualization_debug
LIBS += -L$$quote(C:\Program Files\PCL 1.8.1\3rdParty\Boost\lib)\
-llibboost_atomic-vc141-mt-gd-1_64\
-llibboost_bzip2-vc141-mt-gd-1_64\
-llibboost_chrono-vc141-mt-gd-1_64\
-llibboost_container-vc141-mt-gd-1_64\
-llibboost_context-vc141-mt-gd-1_64\
-llibboost_coroutine-vc141-mt-gd-1_64\
-llibboost_date_time-vc141-mt-gd-1_64\
-llibboost_exception-vc141-mt-gd-1_64\
-llibboost_fiber-vc141-mt-gd-1_64\
-llibboost_filesystem-vc141-mt-gd-1_64\
-llibboost_graph-vc141-mt-gd-1_64\
-llibboost_graph_parallel-vc141-mt-gd-1_64\
-llibboost_iostreams-vc141-mt-gd-1_64\
-llibboost_locale-vc141-mt-gd-1_64\
-llibboost_log-vc141-mt-gd-1_64\
-llibboost_log_setup-vc141-mt-gd-1_64\
-llibboost_math_c99-vc141-mt-gd-1_64\
-llibboost_math_c99f-vc141-mt-gd-1_64\
-llibboost_math_c99l-vc141-mt-gd-1_64\
-llibboost_math_tr1-vc141-mt-gd-1_64\
-llibboost_math_tr1f-vc141-mt-gd-1_64\
-llibboost_math_tr1l-vc141-mt-gd-1_64\
-llibboost_mpi-vc141-mt-gd-1_64\
-llibboost_numpy-vc141-mt-gd-1_64\
-llibboost_numpy3-vc141-mt-gd-1_64\
-llibboost_prg_exec_monitor-vc141-mt-gd-1_64\
-llibboost_program_options-vc141-mt-gd-1_64\
-llibboost_python-vc141-mt-gd-1_64\
-llibboost_python3-vc141-mt-gd-1_64\
-llibboost_random-vc141-mt-gd-1_64\
-llibboost_regex-vc141-mt-gd-1_64\
-llibboost_serialization-vc141-mt-gd-1_64\
-llibboost_signals-vc141-mt-gd-1_64\
-llibboost_system-vc141-mt-gd-1_64\
-llibboost_test_exec_monitor-vc141-mt-gd-1_64\
-llibboost_thread-vc141-mt-gd-1_64\
-llibboost_timer-vc141-mt-gd-1_64\
-llibboost_type_erasure-vc141-mt-gd-1_64\
-llibboost_unit_test_framework-vc141-mt-gd-1_64\
-llibboost_wave-vc141-mt-gd-1_64\
-llibboost_wserialization-vc141-mt-gd-1_64\
-llibboost_zlib-vc141-mt-gd-1_64
LIBS += -L$$quote(C:\Program Files\PCL 1.8.1\3rdParty\FLANN\lib)\
-lflann-gd\
-lflann_cpp-gd\
-lflann_cpp_s-gd\
-lflann_s-gd
LIBS += -L$$quote(C:\Program Files\PCL 1.8.1\3rdParty\Lib)\
-lOpenNI2
LIBS += -L$$quote(C:\Program Files\PCL 1.8.1\3rdParty\Qhull\lib)\
-lqhull_d\
-lqhullcpp_d\
-lqhullstatic_d\
-lqhullstatic_r_d\
-lqhull_p_d\
-lqhull_r_d
LIBS += -L$$quote(C:\Program Files\PCL 1.8.1\3rdParty\VTK\lib)\
-lvtkalglib-8.0-gd\
-lvtkChartsCore-8.0-gd\
-lvtkCommonColor-8.0-gd\
-lvtkCommonComputationalGeometry-8.0-gd\
-lvtkCommonCore-8.0-gd\
-lvtkCommonDataModel-8.0-gd\
-lvtkCommonExecutionModel-8.0-gd\
-lvtkCommonMath-8.0-gd\
-lvtkCommonMisc-8.0-gd\
-lvtkCommonSystem-8.0-gd\
-lvtkCommonTransforms-8.0-gd\
-lvtkDICOMParser-8.0-gd\
-lvtkDomainsChemistry-8.0-gd\
-lvtkDomainsChemistryOpenGL2-8.0-gd\
-lvtkexoIIc-8.0-gd\
-lvtkexpat-8.0-gd\
-lvtkFiltersAMR-8.0-gd\
-lvtkFiltersCore-8.0-gd\
-lvtkFiltersExtraction-8.0-gd\
-lvtkFiltersFlowPaths-8.0-gd\
-lvtkFiltersGeneral-8.0-gd\
-lvtkFiltersGeneric-8.0-gd\
-lvtkFiltersGeometry-8.0-gd\
-lvtkFiltersHybrid-8.0-gd\
-lvtkFiltersHyperTree-8.0-gd\
-lvtkFiltersImaging-8.0-gd\
-lvtkFiltersModeling-8.0-gd\
-lvtkFiltersParallel-8.0-gd\
-lvtkFiltersParallelImaging-8.0-gd\
-lvtkFiltersPoints-8.0-gd\
-lvtkFiltersProgrammable-8.0-gd\
-lvtkFiltersSelection-8.0-gd\
-lvtkFiltersSMP-8.0-gd\
-lvtkFiltersSources-8.0-gd\
-lvtkFiltersStatistics-8.0-gd\
-lvtkFiltersTexture-8.0-gd\
-lvtkFiltersTopology-8.0-gd\
-lvtkFiltersVerdict-8.0-gd\
-lvtkfreetype-8.0-gd\
-lvtkGeovisCore-8.0-gd\
-lvtkgl2ps-8.0-gd\
-lvtkglew-8.0-gd\
-lvtkGUISupportQt-8.0-gd\
-lvtkGUISupportQtSQL-8.0-gd\
-lvtkhdf5-8.0-gd\
-lvtkhdf5_hl-8.0-gd\
-lvtkImagingColor-8.0-gd\
-lvtkImagingCore-8.0-gd\
-lvtkImagingFourier-8.0-gd\
-lvtkImagingGeneral-8.0-gd\
-lvtkImagingHybrid-8.0-gd\
-lvtkImagingMath-8.0-gd\
-lvtkImagingMorphological-8.0-gd\
-lvtkImagingSources-8.0-gd\
-lvtkImagingStatistics-8.0-gd\
-lvtkImagingStencil-8.0-gd\
-lvtkInfovisCore-8.0-gd\
-lvtkInfovisLayout-8.0-gd\
-lvtkInteractionImage-8.0-gd\
-lvtkInteractionStyle-8.0-gd\
-lvtkInteractionWidgets-8.0-gd\
-lvtkIOAMR-8.0-gd\
-lvtkIOCore-8.0-gd\
-lvtkIOEnSight-8.0-gd\
-lvtkIOExodus-8.0-gd\
-lvtkIOExport-8.0-gd\
-lvtkIOExportOpenGL2-8.0-gd\
-lvtkIOGeometry-8.0-gd\
-lvtkIOImage-8.0-gd\
-lvtkIOImport-8.0-gd\
-lvtkIOInfovis-8.0-gd\
-lvtkIOLegacy-8.0-gd\
-lvtkIOLSDyna-8.0-gd\
-lvtkIOMINC-8.0-gd\
-lvtkIOMovie-8.0-gd\
-lvtkIONetCDF-8.0-gd\
-lvtkIOParallel-8.0-gd\
-lvtkIOParallelXML-8.0-gd\
-lvtkIOPLY-8.0-gd\
-lvtkIOSQL-8.0-gd\
-lvtkIOTecplotTable-8.0-gd\
-lvtkIOVideo-8.0-gd\
-lvtkIOXML-8.0-gd\
-lvtkIOXMLParser-8.0-gd\
-lvtkjpeg-8.0-gd\
-lvtkjsoncpp-8.0-gd\
-lvtklibharu-8.0-gd\
-lvtklibxml2-8.0-gd\
-lvtkLocalExample-8.0-gd\
-lvtklz4-8.0-gd\
-lvtkmetaio-8.0-gd\
-lvtkNetCDF-8.0-gd\
-lvtkoggtheora-8.0-gd\
-lvtkParallelCore-8.0-gd\
-lvtkpng-8.0-gd\
-lvtkproj4-8.0-gd\
-lvtkRenderingAnnotation-8.0-gd\
-lvtkRenderingContext2D-8.0-gd\
-lvtkRenderingContextOpenGL2-8.0-gd\
-lvtkRenderingCore-8.0-gd\
-lvtkRenderingFreeType-8.0-gd\
-lvtkRenderingGL2PSOpenGL2-8.0-gd\
-lvtkRenderingImage-8.0-gd\
-lvtkRenderingLabel-8.0-gd\
-lvtkRenderingLOD-8.0-gd\
-lvtkRenderingOpenGL2-8.0-gd\
-lvtkRenderingQt-8.0-gd\
-lvtkRenderingVolume-8.0-gd\
-lvtkRenderingVolumeOpenGL2-8.0-gd\
-lvtksqlite-8.0-gd\
-lvtksys-8.0-gd\
-lvtkTestingGenericBridge-8.0-gd\
-lvtkTestingIOSQL-8.0-gd\
-lvtkTestingRendering-8.0-gd\
-lvtktiff-8.0-gd\
-lvtkverdict-8.0-gd\
-lvtkViewsContext2D-8.0-gd\
-lvtkViewsCore-8.0-gd\
-lvtkViewsInfovis-8.0-gd\
-lvtkViewsQt-8.0-gd\
-lvtkzlib-8.0-gd\
} else {
LIBS += -L$$quote(C:\Program Files\PCL 1.8.1\lib)\
-lpcl_common_release\
-lpcl_features_release\
-lpcl_filters_release\
-lpcl_io_ply_release\
-lpcl_io_release\
-lpcl_kdtree_release\
-lpcl_keypoints_release\
-lpcl_ml_release\
-lpcl_octree_release\
-lpcl_outofcore_release\
-lpcl_people_release\
-lpcl_recognition_release\
-lpcl_registration_release\
-lpcl_sample_consensus_release\
-lpcl_search_release\
-lpcl_segmentation_release\
-lpcl_stereo_release\
-lpcl_surface_release\
-lpcl_tracking_release\
-lpcl_visualization_release
LIBS += -L$$quote(C:\Program Files\PCL 1.8.1\3rdParty\Boost\lib)\
-llibboost_atomic-vc141-mt-1_64\
-llibboost_bzip2-vc141-mt-1_64\
-llibboost_chrono-vc141-mt-1_64\
-llibboost_container-vc141-mt-1_64\
-llibboost_context-vc141-mt-1_64\
-llibboost_coroutine-vc141-mt-1_64\
-llibboost_date_time-vc141-mt-1_64\
-llibboost_exception-vc141-mt-1_64\
-llibboost_fiber-vc141-mt-1_64\
-llibboost_filesystem-vc141-mt-1_64\
-llibboost_graph-vc141-mt-1_64\
-llibboost_graph_parallel-vc141-mt-1_64\
-llibboost_iostreams-vc141-mt-1_64\
-llibboost_locale-vc141-mt-1_64\
-llibboost_log-vc141-mt-1_64\
-llibboost_log_setup-vc141-mt-1_64\
-llibboost_math_c99-vc141-mt-1_64\
-llibboost_math_c99f-vc141-mt-1_64\
-llibboost_math_c99l-vc141-mt-1_64\
-llibboost_math_tr1-vc141-mt-1_64\
-llibboost_math_tr1f-vc141-mt-1_64\
-llibboost_math_tr1l-vc141-mt-1_64\
-llibboost_mpi-vc141-mt-1_64\
-llibboost_numpy-vc141-mt-1_64\
-llibboost_numpy3-vc141-mt-1_64\
-llibboost_prg_exec_monitor-vc141-mt-1_64\
-llibboost_program_options-vc141-mt-1_64\
-llibboost_python-vc141-mt-1_64\
-llibboost_python3-vc141-mt-1_64\
-llibboost_random-vc141-mt-1_64\
-llibboost_regex-vc141-mt-1_64\
-llibboost_serialization-vc141-mt-1_64\
-llibboost_signals-vc141-mt-1_64\
-llibboost_system-vc141-mt-1_64\
-llibboost_test_exec_monitor-vc141-mt-1_64\
-llibboost_thread-vc141-mt-1_64\
-llibboost_timer-vc141-mt-1_64\
-llibboost_type_erasure-vc141-mt-1_64\
-llibboost_unit_test_framework-vc141-mt-1_64\
-llibboost_wave-vc141-mt-1_64\
-llibboost_wserialization-vc141-mt-1_64\
-llibboost_zlib-vc141-mt-1_64
LIBS += -L$$quote(C:\Program Files\PCL 1.8.1\3rdParty\FLANN\lib)\
-lflann\
-lflann_cpp\
-lflann_cpp_s\
-lflann_s
LIBS += -L$$quote(C:\Program Files\PCL 1.8.1\3rdParty\Lib)\
-lOpenNI2
LIBS += -L$$quote(C:\Program Files\PCL 1.8.1\3rdParty\Qhull\lib)\
-lqhull\
-lqhullcpp\
-lqhullstatic\
-lqhullstatic_r\
-lqhull_p\
-lqhull_r
LIBS += -L$$quote(C:\Program Files\PCL 1.8.1\3rdParty\VTK\lib)\
-lvtkalglib-8.0\
-lvtkChartsCore-8.0\
-lvtkCommonColor-8.0\
-lvtkCommonComputationalGeometry-8.0\
-lvtkCommonCore-8.0\
-lvtkCommonDataModel-8.0\
-lvtkCommonExecutionModel-8.0\
-lvtkCommonMath-8.0\
-lvtkCommonMisc-8.0\
-lvtkCommonSystem-8.0\
-lvtkCommonTransforms-8.0\
-lvtkDICOMParser-8.0\
-lvtkDomainsChemistry-8.0\
-lvtkDomainsChemistryOpenGL2-8.0\
-lvtkexoIIc-8.0\
-lvtkexpat-8.0\
-lvtkFiltersAMR-8.0\
-lvtkFiltersCore-8.0\
-lvtkFiltersExtraction-8.0\
-lvtkFiltersFlowPaths-8.0\
-lvtkFiltersGeneral-8.0\
-lvtkFiltersGeneric-8.0\
-lvtkFiltersGeometry-8.0\
-lvtkFiltersHybrid-8.0\
-lvtkFiltersHyperTree-8.0\
-lvtkFiltersImaging-8.0\
-lvtkFiltersModeling-8.0\
-lvtkFiltersParallel-8.0\
-lvtkFiltersParallelImaging-8.0\
-lvtkFiltersPoints-8.0\
-lvtkFiltersProgrammable-8.0\
-lvtkFiltersSelection-8.0\
-lvtkFiltersSMP-8.0\
-lvtkFiltersSources-8.0\
-lvtkFiltersStatistics-8.0\
-lvtkFiltersTexture-8.0\
-lvtkFiltersTopology-8.0\
-lvtkFiltersVerdict-8.0\
-lvtkfreetype-8.0\
-lvtkGeovisCore-8.0\
-lvtkgl2ps-8.0\
-lvtkglew-8.0\
-lvtkGUISupportQt-8.0\
-lvtkGUISupportQtSQL-8.0\
-lvtkhdf5-8.0\
-lvtkhdf5_hl-8.0\
-lvtkImagingColor-8.0\
-lvtkImagingCore-8.0\
-lvtkImagingFourier-8.0\
-lvtkImagingGeneral-8.0\
-lvtkImagingHybrid-8.0\
-lvtkImagingMath-8.0\
-lvtkImagingMorphological-8.0\
-lvtkImagingSources-8.0\
-lvtkImagingStatistics-8.0\
-lvtkImagingStencil-8.0\
-lvtkInfovisCore-8.0\
-lvtkInfovisLayout-8.0\
-lvtkInteractionImage-8.0\
-lvtkInteractionStyle-8.0\
-lvtkInteractionWidgets-8.0\
-lvtkIOAMR-8.0\
-lvtkIOCore-8.0\
-lvtkIOEnSight-8.0\
-lvtkIOExodus-8.0\
-lvtkIOExport-8.0\
-lvtkIOExportOpenGL2-8.0\
-lvtkIOGeometry-8.0\
-lvtkIOImage-8.0\
-lvtkIOImport-8.0\
-lvtkIOInfovis-8.0\
-lvtkIOLegacy-8.0\
-lvtkIOLSDyna-8.0\
-lvtkIOMINC-8.0\
-lvtkIOMovie-8.0\
-lvtkIONetCDF-8.0\
-lvtkIOParallel-8.0\
-lvtkIOParallelXML-8.0\
-lvtkIOPLY-8.0\
-lvtkIOSQL-8.0\
-lvtkIOTecplotTable-8.0\
-lvtkIOVideo-8.0\
-lvtkIOXML-8.0\
-lvtkIOXMLParser-8.0\
-lvtkjpeg-8.0\
-lvtkjsoncpp-8.0\
-lvtklibharu-8.0\
-lvtklibxml2-8.0\
-lvtkLocalExample-8.0\
-lvtklz4-8.0\
-lvtkmetaio-8.0\
-lvtkNetCDF-8.0\
-lvtknetcdf_c++\
-lvtkoggtheora-8.0\
-lvtkParallelCore-8.0\
-lvtkpng-8.0\
-lvtkproj4-8.0\
-lvtkRenderingAnnotation-8.0\
-lvtkRenderingContext2D-8.0\
-lvtkRenderingContextOpenGL2-8.0\
-lvtkRenderingCore-8.0\
-lvtkRenderingFreeType-8.0\
-lvtkRenderingGL2PSOpenGL2-8.0\
-lvtkRenderingImage-8.0\
-lvtkRenderingLabel-8.0\
-lvtkRenderingLOD-8.0\
-lvtkRenderingOpenGL2-8.0\
-lvtkRenderingQt-8.0\
-lvtkRenderingVolume-8.0\
-lvtkRenderingVolumeOpenGL2-8.0\
-lvtksqlite-8.0\
-lvtksys-8.0\
-lvtkTestingGenericBridge-8.0\
-lvtkTestingIOSQL-8.0\
-lvtkTestingRendering-8.0\
-lvtktiff-8.0\
-lvtkverdict-8.0\
-lvtkViewsContext2D-8.0\
-lvtkViewsCore-8.0\
-lvtkViewsInfovis-8.0\
-lvtkViewsQt-8.0\
-lvtkzlib-8.0\
}
# Default rules for deployment.
qnx: target.path = /tmp/$${TARGET}/bin
else: unix:!android: target.path = /opt/$${TARGET}/bin
!isEmpty(target.path): INSTALLS += target
这里值得注意的是，由于我的路径中含有空格，所以我每个路径都加了$$quote操作符，如果不加，会发现include文件、库文件都查找不到，比如
#include <QVTKWidget.h>会报找不到QVTKWidget.h错误配置完毕后，编辑mainwindow.h文件
#ifndef MAINWINDOW_H
#define MAINWINDOW_H
#include <QMainWindow>
#include <vtkRenderWindow.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
namespace Ui {
class MainWindow;
}
class MainWindow : public QMainWindow
{
Q_OBJECT
public:
explicit MainWindow(QWidget *parent = nullptr);
~MainWindow();
private:
Ui::MainWindow *ui;
pcl::visualization::PCLVisualizer::Ptr viewer;
private slots:
void showpcl();
};
#endif // MAINWINDOW_H
再编辑mainwindow.cpp文件
#include "mainwindow.h"
#include "ui_mainwindow.h"
#include <QMessagebox>
#include <vtkAutoInit.h>
VTK_MODULE_INIT(vtkRenderingOpenGL2);
VTK_MODULE_INIT(vtkInteractionStyle);
VTK_MODULE_INIT(vtkRenderingFreeType);
#include <boost/thread/thread.hpp> //多线程
#include "vtkConeSource.h"
#include "vtkConeSource.h"
#include "vtkCommand.h"
#include "vtkCamera.h"
#include "vtkRenderWindowInteractor.h"
#include "vtkTransform.h"
#include "vtkInteractorStyleTrackballCamera.h"
#include <vtkSmartPointer.h>
#include <vtkDoubleArray.h>
#include <vtkCellArray.h>
#include <vtkPolyData.h>
#include <vtkDataSet.h>
#include <vtkLookupTable.h>
#include <vtkPointData.h>
#include <vtkPolyDataMapper.h>
#include <vtkActor.h>
#include <vtkProperty.h>
#include <vtkRenderer.h>
#include <vtkRenderWindow.h>
#include <vtkInteractorStyleTrackballCamera.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkArcSource.h>
#include <vtkAppendPolyData.h>
#include <vtkScalarBarActor.h>
#include <vtkKdTree.h>
#include <vtkLODActor.h>
#include <vtkMath.h>
#include <vtkWindowToImageFilter.h>
#include <vtkBMPWriter.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/filter.h>
#include <pcl/features/normal_3d.h>
#include <boost/thread/thread.hpp> //多线程
#include <pcl/compression/octree_pointcloud_compression.h>
#include<pcl/visualization/cloud_viewer.h>
#include<pcl/io/io.h>
#include<pcl/io/pcd_io.h>//pcd 读写类相关的头文件。
#include<pcl/io/ply_io.h>
#include<pcl/PCLPointCloud2.h>
#include<pcl/point_types.h> //PCL中支持的点类型头文件。
#include <pcl/common/common_headers.h>
#include <pcl/features/range_image_border_extractor.h>
#include <pcl/keypoints/narf_keypoint.h>
#include <pcl/console/parse.h>
#include <pcl/point_types.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/filters/project_inliers.h>
#include <pcl/range_image/range_image.h>
#include <pcl/visualization/range_image_visualizer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/registration/icp.h> //ICP(iterative closest point)配准
#include <pcl/registration/icp_nl.h>
#include <pcl/registration/transforms.h>
#include <pcl/pcl_macros.h>
using namespace pcl;
using namespace pcl::io;
using namespace std;
using pcl::visualization::PointCloudColorHandlerGenericField;
using pcl::visualization::PointCloudColorHandlerCustom;
MainWindow::MainWindow(QWidget *parent) :
QMainWindow(parent),
ui(new Ui::MainWindow)
{
ui->setupUi(this);
viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));
ui->guiwidget->SetRenderWindow(viewer->getRenderWindow());
viewer->setupInteractor(ui->guiwidget->GetInteractor(), ui->guiwidget->GetRenderWindow());
ui->guiwidget->update();
}
void MainWindow::showpcl()
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
char strfilepath[256] = "D:\\rabbit.pcd";
std::cout << "start to read" << std::endl;
第一种读入方法j较多场合如此
if (-1 == pcl::io::loadPCDFile(strfilepath, *cloud)) {
cout << "error input!" << endl;
}
QMessageBox::information(NULL, "Title", "read completed");
cout << cloud->points.size() << endl;
viewer->addPointCloud(cloud);
}
MainWindow::~MainWindow()
{
delete ui;
}
下面进入编译阶段，由于我的vtk是在vs2017环境下编译的，
由于pro文件中release和debug模式需要的lib文件都添加了，所以这里可以支持debug和release编译的，使用Qt 5.12.1 MSVC2017 bit编译环境来，
记得debug和release版本互相切换时，得先把工程清除下，再qmake,再去重新构建，然后运行