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PCL+C++点云窗体显示实例

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前言

这篇博客针对<<PCL+C++点云窗体显示实例>>编写代码，代码整洁，规则，易读。学习与应用推荐首选。

文章目录

一、所需工具软件

二、使用步骤

1. 引入库

2. 代码实现

3. 运行结果

三、在线协助

一、所需工具软件

1. VS, Qt

2. PCL

二、使用步骤

1.引入库

#include <QtWidgets/QMainWindow>

#include "ui_PointCloudVision.h"

#include <pcl/point_types.h>					//点云数据类型
#include <pcl/point_cloud.h>					//点云类
#include <pcl/visualization/pcl_visualizer.h>	//点云可视化类
#include <vtkRenderWindow.h>					//vtk可视化窗口
#include <pcl/common/common.h>					//点云极值
#include "QHeightRampDlg.h"						//高度渲染
#include <pcl/filters/passthrough.h>			//直通滤波

#include <QFileDialog>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <vtkRenderWindow.h>

2. 代码实现

代码如下:

#include "PointCloudVision.h"
#include <QFileDialog>
#include <QFile>
#include <QMessageBox>
#include <QColorDialog>

PointCloudVision::PointCloudVision(QWidget* parent)
	: QMainWindow(parent)
{
	ui.setupUi(this);

	//初始化
	init();
}



//打开点云
void PointCloudVision::on_action_open_triggered()
{
	init();

	QString fileName = QFileDialog::getOpenFileName(this, "Open PointCloud", ".", "Open PCD files(*.pcd)");
	if (!fileName.isEmpty())
	{
		std::string file_name = fileName.toStdString();

		pcl::PCLPointCloud2 cloud2;
		Eigen::Vector4f origin;
		Eigen::Quaternionf orientation;
		int pcd_version;
		int data_type;


		viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "cloud");
		viewer->updatePointCloud(m_currentCloud, "cloud");

		// 获取点云数据的最小和最大坐标值
		pcl::getMinMax3D(*m_currentCloud, p_min, p_max);

		viewer->resetCamera();
		ui.qvtkWidget->update();
	}
}



//俯视图
void PointCloudVision::on_action_up_triggered()
{
	if (!m_currentCloud->empty())
	{
		viewer->setCameraPosition(0.5 * (p_min.x + p_max.x), 0.5 * (p_min.y + p_max.y), p_max.z + 2 * maxLen, 0.5 * (p_min.x + p_max.x), 0.5 * (p_min.y + p_max.y), 0, 0, 1, 0);
		viewer->updatePointCloud(m_currentCloud, "cloud");
		ui.qvtkWidget->update();

		on_action_reset_triggered();
	}
}

//前视图
void PointCloudVision::on_action_front_triggered()
{
	if (!m_currentCloud->empty())
	{
		viewer->setCameraPosition(0.5 * (p_min.x + p_max.x), p_min.y - 2 * maxLen, 0.5 * (p_min.z + p_max.z), 0.5 * (p_min.x + p_max.x), 0, 0.5 * (p_min.z + p_max.z), 0, 0, 1);
		viewer->updatePointCloud(m_currentCloud, "cloud");
		ui.qvtkWidget->update();

		on_action_reset_triggered();
	}
}

//左视图
void PointCloudVision::on_action_left_triggered()
{
	if (!m_currentCloud->empty())
	{
		viewer->setCameraPosition(p_min.x - 2 * maxLen, 0.5 * (p_min.y + p_max.y), 0.5 * (p_min.z + p_max.z), 0, 0.5 * (p_min.y + p_max.y), 0.5 * (p_min.z + p_max.z), 0, 0, 1);
		viewer->updatePointCloud(m_currentCloud, "cloud");
		ui.qvtkWidget->update();

		on_action_reset_triggered();
	}
}

//后视图
void PointCloudVision::on_action_back_triggered()
{
	if (!m_currentCloud->empty())
	{
		viewer->setCameraPosition(0.5 * (p_min.x + p_max.x), p_max.y + 2 * maxLen, 0.5 * (p_min.z + p_max.z), 0.5 * (p_min.x + p_max.x), 0, 0.5 * (p_min.z + p_max.z), 0, 0, 1);
		viewer->updatePointCloud(m_currentCloud, "cloud");
		ui.qvtkWidget->update();

		on_action_reset_triggered();
	}
}

//右视图
void PointCloudVision::on_action_right_triggered()
{
	if (!m_currentCloud->empty())
	{
		viewer->setCameraPosition(p_max.x + 2 * maxLen, 0.5 * (p_min.y + p_max.y), 0.5 * (p_min.z + p_max.z), 0, 0.5 * (p_min.y + p_max.y), 0.5 * (p_min.z + p_max.z), 0, 0, 1);
		viewer->updatePointCloud(m_currentCloud, "cloud");
		ui.qvtkWidget->update();

		on_action_reset_triggered();
	}
}

//底视图
void PointCloudVision::on_action_bottom_triggered()
{
	if (!m_currentCloud->empty())
	{
		viewer->setCameraPosition(0.5 * (p_min.x + p_max.x), 0.5 * (p_min.y + p_max.y), p_min.z - 2 * maxLen, 0.5 * (p_min.x + p_max.x), 0.5 * (p_min.y + p_max.y), 0, 0, 1, 0);
		viewer->updatePointCloud(m_currentCloud, "cloud");
		ui.qvtkWidget->update();

		on_action_reset_triggered();
	}
}

//前轴测
void PointCloudVision::on_action_frontIso_triggered()
{
	if (!m_currentCloud->empty())
	{
		viewer->setCameraPosition(p_min.x - 2 * maxLen, p_min.y - 2 * maxLen, p_max.z + 2 * maxLen, 0.5 * (p_min.x + p_max.x), 0.5 * (p_min.y + p_max.y), 0.5 * (p_min.z + p_max.z), 1, 1, 0);
		viewer->updatePointCloud(m_currentCloud, "cloud");
		ui.qvtkWidget->update();

		on_action_reset_triggered();
	}
}

//后轴测
void PointCloudVision::on_action_backIso_triggered()
{
	viewer->setCameraPosition(p_max.x + 2 * maxLen, p_max.y + 2 * maxLen, p_max.z + 2 * maxLen, 0.5 * (p_min.x + p_max.x), 0.5 * (p_min.y + p_max.y), 0.5 * (p_min.z + p_max.z), -1, -1, 0);
	viewer->updatePointCloud(m_currentCloud, "cloud");
	ui.qvtkWidget->update();

	on_action_reset_triggered();
}

//设置点云颜色
void PointCloudVision::on_action_setColor_triggered()
{
	QColor color = QColorDialog::getColor(Qt::white, this, "设置点云颜色", QColorDialog::ShowAlphaChannel);

	viewer->removeAllPointClouds();
	pcl::visualization::PointCloudColorHandlerCustom<PointT> singleColor(m_currentCloud, color.red(), color.green(), color.blue());
	viewer->addPointCloud(m_currentCloud, singleColor, "myCloud", 0);
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, color.alpha() * 1.0 / 255, "myCloud");

	ui.qvtkWidget->update();

}

//设置高度渲染
void PointCloudVision::on_action_heightRamp_triggered()
{
	heightRampDlg.show();
}

//进行高度渲染
void PointCloudVision::setHeightRamp(int dir, double height)
{
	//清空点云
	viewer->removeAllPointClouds();
	m_heightCloudList.clear();

	double min_range = 0;
	double max_range = 0;
	std::string field = "x";

	switch (dir)
	{
	case 0:
		min_range = p_min.x;
		max_range = p_max.x;
		field = "x";
		break;

	case 1:
		min_range = p_min.y;
		max_range = p_max.y;
		field = "y";
		break;

	case 2:
		min_range = p_min.z;
		max_range = p_max.z;
		field = "z";
		break;
	default:
		break;
	}

	for (double i = min_range - 1; i < max_range + height;)
	{
		PointCloudT::Ptr cloudTemp(new PointCloudT());

		pcl::PassThrough<PointT> pass;			//直通滤波器对象
		pass.setInputCloud(m_currentCloud);		//输入点云
		pass.setFilterFieldName(field);			//设置过滤字段
		pass.setFilterLimits(i, i + height);	//设置过滤范围
		pass.setFilterLimitsNegative(false);	//设置保留字段
		pass.filter(*cloudTemp);				//执行滤波

		i += height;

		m_heightCloudList.append(cloudTemp);
	}

	//分段渲染
	for (int j = 0; j < m_heightCloudList.size(); j++)
	{
		pcl::visualization::PointCloudColorHandlerGenericField<PointT> fieldColor(m_heightCloudList.at(j), field);
		std::string index = std::to_string(j);
		viewer->addPointCloud(m_heightCloudList.at(j), fieldColor, index);
	}

}