由于我电脑中有 QT5.12.6 VS2017,就不介绍怎么安装了,只介绍cmake,pcl及vtk的配置步骤
为了便于后续QT的调用,以下所有安装路径中均不能出现中文及空格等
PCL自带VTK是不完整的,所以需要下载VTK源码进行重新编译使其支持QT。
一:资源链接:
资源内容:
PCL 1.9.1版本对应的VTK版本为8.1,
我选择的VTK 8.1.1版本
先将上述4个文件下载,将所有压缩包解压
二、Cmake安装
点击cmake-3.14.2-win64-x64.msi 按照指示进行操作
注意: 安装路径我没有选择默认路径,我的路径为:D:\ProgramFiles\Cmake
三、pcl安装
(一) PCL-1.9.1-AllInOne-msvc2017-win64.exe 的安装
1. 双击exe,前两步默认,第三步:选择 Add PCL to the system PATH for all users
2.安装路径 D:\ProgramFiles\PCL\PCL1.9.1 -注意不能有空格
随后步骤 安装路径:我选择了 : D:\ProgramFiles\PCL,
自动生成路径:D:\ProgramFiles\PCL\PCL 1.9.1 注意:这个路径中是有空格的,qt中路径不能识别带空格路径,所以,要把这个空格去掉
最后安装路径为: D:\ProgramFiles\PCL\PCL1.9.1
3. 选择组件时,全部选择--按照默认即可
4.OpenNI的安装
PCL安装快结束时,会弹出来安装第三方库,我的安装路径为:
D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\OpenNI2 其他按照默认安装即可
(二)解压,拷贝
解压 pcl-1.9.1-pdb-msvc2017-win64.zip 将所有的pdb文件拷贝到pcl的安装路径下即可
D:\ProgramFiles\PCL\PCL1.9.1\bin
注意:pcl中的vtk不用改动,因为pcl1.9.1中的vtk为8.1.1,与Qt中配置的vtk版本一致
至此PCL安装结束
四、vtk编译
(一)编译步骤:
步骤主要参考下面两篇文章
VS2015 + PCL1.8.0 + QT_5.62 + cmake3.82 编译VTK7.1,生成QVTKWidgetPlugin.dll_恭勤不倦的博客-CSDN博客https://blog.csdn.net/ktony_90/article/details/77966904VTK8.2.0编译安装与测试用例运行(win10 + VS2017 + Qt5,Release+Debug)_vtk 编译时怎么打开测试程序_LiveAn的博客-CSDN博客https://blog.csdn.net/anhec/article/details/86777302
0. 先建2个空文件夹用来存放vtk编译程序和安装程序--在想要的安装路径下
1.以管理员的方式打开cmake,选择好源码路径、编译路径、勾选 Advanced
VS2017+Qt5.12.0+PCL1.9.1开发环境配置过程详细记录_小龙就是爱学习的博客-CSDN博客
可参考这个设置 类型
(1)点击Add Entry,添加CMAKE_PREFIX_PATH,类型为“PATH”,设置为QT的安装路径。
(2)点击Add Entry,添加CMAKE_DEBUG_POSTFIX,设置为"_d"。用来区分debug与release版本下的dll和lib文件,不然的话创建安装文件的时候debug与release版本,名字相同相互覆盖。
应该选 string ;我选错了,选了filepath
(3)然后点击 config , 选择 vs2017---x64 其他默认, 配置好后,会冒出一堆红,不要怕,继续。。
2. 勾选-配置--再次 config
勾选BUILD_SHARED_LIBS,使生成VTK的lib与dll
勾选BUILD_EXAMPLES,使编译生成一些
勾选VTK_Group_Qt,让VTK支持Qt Application
设置CMAKE_INSTALL_PREFIX目录为VTK安装目录(D:\ProgramFiles\VTK\VTK811\install)
3.确认路径及 再次 config
2步骤点击config后,红色缺少少了很多,这一步主要是请确认红色变量的路径(Qt路径,Examples路径)是否正确,以及Qt的版本是否为5
此步点击config后,虽然显示config done 还是有红的,确认后再次点击config,直到没有红色的出现
4. 点击Generate
在编译路径builid下 生成vtk工程
(二) vs生成lib与dll
1.打开 vtk工程
用管理员模式打开VS2017, 然后打开工程 VTK.sln
路径在 D:\ProgramFiles\VTK\VTK811\build
2.debug模式下
(1).编译ALL-BUILD工程
选择 debug x64模式, 点击 ALL-BUILD工程, 生成---重新生成ALL-BUILD 编译过程大概一小时
经过一个小时左右编译结果如下
269>------ 已启动全部重新生成: 项目: ALL_BUILD, 配置: Debug x64 ------
269>Building Custom Rule D:/software/pcl/vtk-v8.1.1/vtk-v8.1.1/CMakeLists.txt
269>CMake does not need to re-run because D:/ProgramFiles/VTK/VTK811/build/CMakeFiles/generate.stamp is up-to-date.
========== 全部重新生成: 成功 268 个,失败 1 个,跳过 0 个 ==========
失败的是: 我没管,继续编译install了
0>CMake Error at D:/ProgramFiles/Cmake/share/cmake-3.14/Modules/ExternalData.cmake:1121 (message):
30>
30>
30> Object MD5=6424e2a51d932a5c93c361c14c3c4c49 not found at:
30>
30> http://midas3.kitware.com/midas/api/rest?method=midas.bitstream.download&checksum=6424e2a51d932a5c93c361c14c3c4c49&algorithm=MD5 ("HTTP response code said error")
30> http://www.vtk.org/files/ExternalData/MD5/6424e2a51d932a5c93c361c14c3c4c49 ("Timeout was reached")
30>
30>
30>C:\Program Files (x86)\Microsoft Visual Studio\2017\Community\Common7\IDE\VC\VCTargets\Microsoft.CppCommon.targets(209,5): error MSB6006: “cmd.exe”已退出,代码为 1。
(2).编译 INSTALL工程
点击INSTALL 工程,鼠标右击,依次选择 “仅用于项目 -> 仅生成INSTALL”
编译成功后,在VTK的安装路径下D:\ProgramFiles\VTK\VTK811\install
能看到如下信息,dll与 lib 均带_d
(3) 将上述文件夹放在新建的debug下,然后重新弄release模式下的
3.release下
选择 release--x64
(1)ALL-BUILD工程
点击ALL-BUILD 右键 选择 生成
编译了大概半小时, 生成: 成功 268 个,失败 1 个,最新 0 个,跳过 0 个 ==========
还是失败还是 cmake
(2). INSTALL工程
点击INSTALL 工程,鼠标右击,依次选择 “仅用于项目 -> 仅生成INSTALL”
编译成功后,在VTK的安装路径下D:\ProgramFiles\VTK\VTK811\install
能看到如下信息,dll与 lib 均不带_d
(3) 将生成的release下所有文件拷贝到新建文件夹下
(4)dll拷贝到QT的designer路径下
将 release版 QVTKWidgetPlugin.dll(必须是release版的),添加到你的QT的designer的路径下,D:\QT\5.12.6\msvc2017_64\plugins\designer
就可以在msvc2017_64版本的Qt Designer中添加QVTKWidget控件了
(三)测试vtk
测试vtk是否编译成功,VTK工程中,选择 cube工程,右键,设为 启动项目,
然后点击运行,会出现如下图所示
同理,也可以测试: Cone6工程,测试是圆锥
五、环境变量设置
(一)PCL系统环境变量配置
系统环境变量path中新添加以下几个变量值
//用下面的
D:\ProgramFiles\PCL\PCL1.9.1\bin
D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\Boost\lib
D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\FLANN\bin
D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\Qhull\bin
D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\OpenNI2\Lib
D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\OpenNI2\Redist
D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\OpenNI2\Tools
注意:
注意:pcl中的vtk不用改动,因为pcl1.9.1中的vtk为8.1.1,与Qt中配置的vtk版本一致
(二)vtk环境变量设置
将vtk配置到系统的环境变量中
D:\ProgramFiles\VTK\VTK811\install\debug\bin
D:\ProgramFiles\VTK\VTK811\install\release\bin
六: qt createtor设计器中 是没有QVTKWidget
打开了我的qt creator 发面 ui界面是没有QVTKWidget的,但是单独打开 designer 发现里面是有的
参考:Windows10下QT+VTK+PCL环境配置(一次成功)_qt pcl_v俊逸的博客-CSDN博客
没有问题 Qt creator不会显示QVTK,但是Qt Designer中有,使用过程中不会影响。这是个历史遗留问题 Qt一直没解决。
打开单独的qt designer,在左下角就会出现啦
七、Qt-PCL测试
由于测试vtk时出现了问题,就先测试下pcl看安装是否成功
(一)查看文件夹下所有_d.lib文件
获取某一文件夹下文件名的批处理步骤:
获取某一文件夹下文件名的批处理步骤:
新建一个1.txt,输入如下命令:
dir /a-d /b *>scr.txt
再将1.txt后缀名改为.bat即1.bat,运行就会生成一个scr.txt,
里面存放的是文件名,复制所有.lib文件名(即去掉1.bat和scr.txt)到附加依赖项即可完成配置。
(二)qt中pro文件配置
CONFIG += debug_and_release
INCLUDEPATH += D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\Boost\include\boost-1_68
INCLUDEPATH += D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\Boost\include\boost-1_68\boost
INCLUDEPATH += D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\Eigen\eigen3
INCLUDEPATH += D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\FLANN\include
INCLUDEPATH += D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\FLANN\include\flann
INCLUDEPATH += D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\Qhull\include
INCLUDEPATH += D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\OpenNI2\Include
INCLUDEPATH += D:\ProgramFiles\PCL\PCL1.9.1\include\pcl-1.9
message("peizhi")
CONFIG(debug,debug|release){
message("debug pro")
INCLUDEPATH += D:\ProgramFiles\VTK\VTK811\install\debug\include\vtk-8.1
LIBS += -LD:\ProgramFiles\PCL\PCL1.9.1\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 += -LD:\ProgramFiles\PCL\PCL1.9.1\3rdParty\Boost\lib\
-llibboost_atomic-vc141-mt-gd-x64-1_68\
-llibboost_bzip2-vc141-mt-gd-x64-1_68\
-llibboost_chrono-vc141-mt-gd-x64-1_68\
-llibboost_container-vc141-mt-gd-x64-1_68\
-llibboost_context-vc141-mt-gd-x64-1_68\
-llibboost_coroutine-vc141-mt-gd-x64-1_68\
-llibboost_date_time-vc141-mt-gd-x64-1_68\
-llibboost_exception-vc141-mt-gd-x64-1_68\
-llibboost_fiber-vc141-mt-gd-x64-1_68\
-llibboost_filesystem-vc141-mt-gd-x64-1_68\
-llibboost_graph-vc141-mt-gd-x64-1_68\
-llibboost_graph_parallel-vc141-mt-gd-x64-1_68\
-llibboost_iostreams-vc141-mt-gd-x64-1_68\
-llibboost_locale-vc141-mt-gd-x64-1_68\
-llibboost_log-vc141-mt-gd-x64-1_68\
-llibboost_log_setup-vc141-mt-gd-x64-1_68\
-llibboost_math_c99-vc141-mt-gd-x64-1_68\
-llibboost_math_c99f-vc141-mt-gd-x64-1_68\
-llibboost_math_c99l-vc141-mt-gd-x64-1_68\
-llibboost_math_tr1-vc141-mt-gd-x64-1_68\
-llibboost_math_tr1f-vc141-mt-gd-x64-1_68\
-llibboost_math_tr1l-vc141-mt-gd-x64-1_68\
-llibboost_mpi-vc141-mt-gd-x64-1_68\
-llibboost_numpy27-vc141-mt-gd-x64-1_68\
-llibboost_numpy37-vc141-mt-gd-x64-1_68\
-llibboost_prg_exec_monitor-vc141-mt-gd-x64-1_68\
-llibboost_program_options-vc141-mt-gd-x64-1_68\
-llibboost_python27-vc141-mt-gd-x64-1_68\
-llibboost_python37-vc141-mt-gd-x64-1_68\
-llibboost_random-vc141-mt-gd-x64-1_68\
-llibboost_regex-vc141-mt-gd-x64-1_68\
-llibboost_serialization-vc141-mt-gd-x64-1_68\
-llibboost_signals-vc141-mt-gd-x64-1_68\
-llibboost_system-vc141-mt-gd-x64-1_68\
-llibboost_test_exec_monitor-vc141-mt-gd-x64-1_68\
-llibboost_thread-vc141-mt-gd-x64-1_68\
-llibboost_timer-vc141-mt-gd-x64-1_68\
-llibboost_type_erasure-vc141-mt-gd-x64-1_68\
-llibboost_unit_test_framework-vc141-mt-gd-x64-1_68\
-llibboost_wave-vc141-mt-gd-x64-1_68\
-llibboost_wserialization-vc141-mt-gd-x64-1_68\
-llibboost_zlib-vc141-mt-gd-x64-1_68
LIBS += -LD:\ProgramFiles\PCL\PCL1.9.1\3rdParty\FLANN\lib\
-lflann-gd\
-lflann_cpp-gd\
-lflann_cpp_s-gd\
-lflann_s-gd
LIBS += -LD:\ProgramFiles\PCL\PCL1.9.1\3rdParty\OpenNI2\Lib\ -lOpenNI2
LIBS += -LD:\ProgramFiles\PCL\PCL1.9.1\3rdParty\Qhull\lib\
-lqhull_d\
-lqhullcpp_d\
-lqhullstatic_d\
-lqhullstatic_r_d\
-lqhull_p_d\
-lqhull_r_d
LIBS += -LD:\ProgramFiles\VTK\VTK811\install\debug\lib\
-lvtkalglib-8.1_d\
-lvtkChartsCore-8.1_d\
-lvtkCommonColor-8.1_d\
-lvtkCommonComputationalGeometry-8.1_d\
-lvtkCommonCore-8.1_d\
-lvtkCommonDataModel-8.1_d\
-lvtkCommonExecutionModel-8.1_d\
-lvtkCommonMath-8.1_d\
-lvtkCommonMisc-8.1_d\
-lvtkCommonSystem-8.1_d\
-lvtkCommonTransforms-8.1_d\
-lvtkDICOMParser-8.1_d\
-lvtkDomainsChemistry-8.1_d\
-lvtkexoIIc-8.1_d\
-lvtkexpat-8.1_d\
-lvtkFiltersAMR-8.1_d\
-lvtkFiltersCore-8.1_d\
-lvtkFiltersExtraction-8.1_d\
-lvtkFiltersFlowPaths-8.1_d\
-lvtkFiltersGeneral-8.1_d\
-lvtkFiltersGeneric-8.1_d\
-lvtkFiltersGeometry-8.1_d\
-lvtkFiltersHybrid-8.1_d\
-lvtkFiltersHyperTree-8.1_d\
-lvtkFiltersImaging-8.1_d\
-lvtkFiltersModeling-8.1_d\
-lvtkFiltersParallel-8.1_d\
-lvtkFiltersParallelImaging-8.1_d\
-lvtkFiltersPoints-8.1_d\
-lvtkFiltersProgrammable-8.1_d\
-lvtkFiltersSelection-8.1_d\
-lvtkFiltersSMP-8.1_d\
-lvtkFiltersSources-8.1_d\
-lvtkFiltersStatistics-8.1_d\
-lvtkFiltersTexture-8.1_d\
-lvtkFiltersTopology-8.1_d\
-lvtkFiltersVerdict-8.1_d\
-lvtkfreetype-8.1_d\
-lvtkGeovisCore-8.1_d\
-lvtkgl2ps-8.1_d\
-lvtkglew-8.1_d\
-lvtkGUISupportQt-8.1_d\
# -lvtkGUISupportQtOpenGL2-8.1_d\
-lvtkGUISupportQtSQL-8.1_d\
-lvtkhdf5-8.1_d\
-lvtkhdf5_hl-8.1_d\
-lvtkImagingColor-8.1_d\
-lvtkImagingCore-8.1_d\
-lvtkImagingFourier-8.1_d\
-lvtkImagingGeneral-8.1_d\
-lvtkImagingHybrid-8.1_d\
-lvtkImagingMath-8.1_d\
-lvtkImagingMorphological-8.1_d\
-lvtkImagingSources-8.1_d\
-lvtkImagingStatistics-8.1_d\
-lvtkImagingStencil-8.1_d\
-lvtkInfovisCore-8.1_d\
-lvtkInfovisLayout-8.1_d\
-lvtkInteractionImage-8.1_d\
-lvtkInteractionStyle-8.1_d\
-lvtkInteractionWidgets-8.1_d\
-lvtkIOAMR-8.1_d\
-lvtkIOCore-8.1_d\
-lvtkIOEnSight-8.1_d\
-lvtkIOExodus-8.1_d\
-lvtkIOExport-8.1_d\
-lvtkIOExportOpenGL2-8.1_d\
-lvtkIOGeometry-8.1_d\
-lvtkIOImage-8.1_d\
-lvtkIOImport-8.1_d\
-lvtkIOInfovis-8.1_d\
-lvtkIOLegacy-8.1_d\
-lvtkIOLSDyna-8.1_d\
-lvtkIOMINC-8.1_d\
-lvtkIOMovie-8.1_d\
-lvtkIONetCDF-8.1_d\
-lvtkIOParallel-8.1_d\
-lvtkIOParallelXML-8.1_d\
-lvtkIOPLY-8.1_d\
-lvtkIOSQL-8.1_d\
-lvtkIOTecplotTable-8.1_d\
-lvtkIOVideo-8.1_d\
-lvtkIOXML-8.1_d\
-lvtkIOXMLParser-8.1_d\
-lvtkjpeg-8.1_d\
-lvtkjsoncpp-8.1_d\
-lvtklibharu-8.1_d\
-lvtklibxml2-8.1_d\
-lvtklz4-8.1_d\
-lvtkmetaio-8.1_d\
-lvtkNetCDF-8.1_d\
-lvtknetcdfcpp-8.1_d\
-lvtkoggtheora-8.1_d\
-lvtkParallelCore-8.1_d\
-lvtkpng-8.1_d\
-lvtkproj4-8.1_d\
-lvtkRenderingAnnotation-8.1_d\
-lvtkRenderingContext2D-8.1_d\
-lvtkRenderingContextOpenGL2-8.1_d\
-lvtkRenderingCore-8.1_d\
-lvtkRenderingFreeType-8.1_d\
-lvtkRenderingGL2PSOpenGL2-8.1_d\
-lvtkRenderingImage-8.1_d\
-lvtkRenderingLabel-8.1_d\
-lvtkRenderingLOD-8.1_d\
-lvtkRenderingOpenGL2-8.1_d\
-lvtkRenderingQt-8.1_d\
-lvtkRenderingVolume-8.1_d\
-lvtkRenderingVolumeOpenGL2-8.1_d\
-lvtksqlite-8.1_d\
-lvtksys-8.1_d\
-lvtktiff-8.1_d\
-lvtkverdict-8.1_d\
-lvtkViewsContext2D-8.1_d\
-lvtkViewsCore-8.1_d\
-lvtkViewsInfovis-8.1_d\
-lvtkViewsQt-8.1_d\
-lvtkzlib-8.1_d
} else { #也可以按照下面进行设置,没有此句
#CONFIG(release,debug|release){
message("release CameraUi.pro")
INCLUDEPATH += D:\ProgramFiles\VTK\VTK811\install\release\include\vtk-8.1
LIBS += -LD:\ProgramFiles\PCL\PCL1.9.1\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 += -LD:\ProgramFiles\PCL\PCL1.9.1\3rdParty\Boost\lib\
-llibboost_atomic-vc141-mt-x64-1_68\
-llibboost_bzip2-vc141-mt-x64-1_68\
-llibboost_chrono-vc141-mt-x64-1_68\
-llibboost_container-vc141-mt-x64-1_68\
-llibboost_context-vc141-mt-x64-1_68\
-llibboost_coroutine-vc141-mt-x64-1_68\
-llibboost_date_time-vc141-mt-x64-1_68\
-llibboost_exception-vc141-mt-x64-1_68\
-llibboost_fiber-vc141-mt-x64-1_68\
-llibboost_filesystem-vc141-mt-x64-1_68\
-llibboost_graph-vc141-mt-x64-1_68\
-llibboost_graph_parallel-vc141-mt-x64-1_68\
-llibboost_iostreams-vc141-mt-x64-1_68\
-llibboost_locale-vc141-mt-x64-1_68\
-llibboost_log-vc141-mt-x64-1_68\
-llibboost_log_setup-vc141-mt-x64-1_68\
-llibboost_math_c99-vc141-mt-x64-1_68\
-llibboost_math_c99f-vc141-mt-x64-1_68\
-llibboost_math_c99l-vc141-mt-x64-1_68\
-llibboost_math_tr1-vc141-mt-x64-1_68\
-llibboost_math_tr1f-vc141-mt-x64-1_68\
-llibboost_math_tr1l-vc141-mt-x64-1_68\
-llibboost_mpi-vc141-mt-x64-1_68\
-llibboost_numpy27-vc141-mt-x64-1_68\
-llibboost_numpy37-vc141-mt-x64-1_68\
-llibboost_prg_exec_monitor-vc141-mt-x64-1_68\
-llibboost_program_options-vc141-mt-x64-1_68\
-llibboost_python27-vc141-mt-x64-1_68\
-llibboost_python37-vc141-mt-x64-1_68\
-llibboost_random-vc141-mt-x64-1_68\
-llibboost_regex-vc141-mt-x64-1_68\
-llibboost_serialization-vc141-mt-x64-1_68\
-llibboost_signals-vc141-mt-x64-1_68\
-llibboost_system-vc141-mt-x64-1_68\
-llibboost_test_exec_monitor-vc141-mt-x64-1_68\
-llibboost_thread-vc141-mt-x64-1_68\
-llibboost_timer-vc141-mt-x64-1_68\
-llibboost_type_erasure-vc141-mt-x64-1_68\
-llibboost_unit_test_framework-vc141-mt-x64-1_68\
-llibboost_wave-vc141-mt-x64-1_68\
-llibboost_wserialization-vc141-mt-x64-1_68\
-llibboost_zlib-vc141-mt-x64-1_68
LIBS += -LD:\ProgramFiles\PCL\PCL1.9.1\3rdParty\FLANN\lib\
-lflann\
-lflann_cpp\
-lflann_cpp_s\
-lflann_s
LIBS += -LD:\ProgramFiles\PCL\PCL1.9.1\3rdParty\OpenNI2\Lib\ -lOpenNI2
LIBS += -LD:\ProgramFiles\PCL\PCL1.9.1\3rdParty\Qhull\lib\
-lqhull\
-lqhullcpp\
-lqhullstatic\
-lqhullstatic_r\
-lqhull_p\
-lqhull_r
LIBS += -LD:\ProgramFiles\VTK\VTK811\install\release\lib\
-lvtkalglib-8.1\
-lvtkChartsCore-8.1\
-lvtkCommonColor-8.1\
-lvtkCommonComputationalGeometry-8.1\
-lvtkCommonCore-8.1\
-lvtkCommonDataModel-8.1\
-lvtkCommonExecutionModel-8.1\
-lvtkCommonMath-8.1\
-lvtkCommonMisc-8.1\
-lvtkCommonSystem-8.1\
-lvtkCommonTransforms-8.1\
-lvtkDICOMParser-8.1\
-lvtkDomainsChemistry-8.1\
-lvtkexoIIc-8.1\
-lvtkexpat-8.1\
-lvtkFiltersAMR-8.1\
-lvtkFiltersCore-8.1\
-lvtkFiltersExtraction-8.1\
-lvtkFiltersFlowPaths-8.1\
-lvtkFiltersGeneral-8.1\
-lvtkFiltersGeneric-8.1\
-lvtkFiltersGeometry-8.1\
-lvtkFiltersHybrid-8.1\
-lvtkFiltersHyperTree-8.1\
-lvtkFiltersImaging-8.1\
-lvtkFiltersModeling-8.1\
-lvtkFiltersParallel-8.1\
-lvtkFiltersParallelImaging-8.1\
-lvtkFiltersPoints-8.1\
-lvtkFiltersProgrammable-8.1\
-lvtkFiltersSelection-8.1\
-lvtkFiltersSMP-8.1\
-lvtkFiltersSources-8.1\
-lvtkFiltersStatistics-8.1\
-lvtkFiltersTexture-8.1\
-lvtkFiltersTopology-8.1\
-lvtkFiltersVerdict-8.1\
-lvtkfreetype-8.1\
-lvtkGeovisCore-8.1\
-lvtkgl2ps-8.1\
-lvtkglew-8.1\
-lvtkGUISupportQt-8.1\
-lvtkGUISupportQtSQL-8.1\
-lvtkhdf5-8.1\
-lvtkhdf5_hl-8.1\
-lvtkImagingColor-8.1\
-lvtkImagingCore-8.1\
-lvtkImagingFourier-8.1\
-lvtkImagingGeneral-8.1\
-lvtkImagingHybrid-8.1\
-lvtkImagingMath-8.1\
-lvtkImagingMorphological-8.1\
-lvtkImagingSources-8.1\
-lvtkImagingStatistics-8.1\
-lvtkImagingStencil-8.1\
-lvtkInfovisCore-8.1\
-lvtkInfovisLayout-8.1\
-lvtkInteractionImage-8.1\
-lvtkInteractionStyle-8.1\
-lvtkInteractionWidgets-8.1\
-lvtkIOAMR-8.1\
-lvtkIOCore-8.1\
-lvtkIOEnSight-8.1\
-lvtkIOExodus-8.1\
-lvtkIOExport-8.1\
-lvtkIOExportOpenGL2-8.1\
-lvtkIOGeometry-8.1\
-lvtkIOImage-8.1\
-lvtkIOImport-8.1\
-lvtkIOInfovis-8.1\
-lvtkIOLegacy-8.1\
-lvtkIOLSDyna-8.1\
-lvtkIOMINC-8.1\
-lvtkIOMovie-8.1\
-lvtkIONetCDF-8.1\
-lvtkIOParallel-8.1\
-lvtkIOParallelXML-8.1\
-lvtkIOPLY-8.1\
-lvtkIOSQL-8.1\
-lvtkIOTecplotTable-8.1\
-lvtkIOVideo-8.1\
-lvtkIOXML-8.1\
-lvtkIOXMLParser-8.1\
-lvtkjpeg-8.1\
-lvtkjsoncpp-8.1\
-lvtklibharu-8.1\
-lvtklibxml2-8.1\
-lvtklz4-8.1\
-lvtkmetaio-8.1\
-lvtkNetCDF-8.1\
-lvtknetcdfcpp-8.1\
-lvtkoggtheora-8.1\
-lvtkParallelCore-8.1\
-lvtkpng-8.1\
-lvtkproj4-8.1\
-lvtkRenderingAnnotation-8.1\
-lvtkRenderingContext2D-8.1\
-lvtkRenderingContextOpenGL2-8.1\
-lvtkRenderingCore-8.1\
-lvtkRenderingFreeType-8.1\
-lvtkRenderingGL2PSOpenGL2-8.1\
-lvtkRenderingImage-8.1\
-lvtkRenderingLabel-8.1\
-lvtkRenderingLOD-8.1\
-lvtkRenderingOpenGL2-8.1\
-lvtkRenderingQt-8.1\
-lvtkRenderingVolume-8.1\
-lvtkRenderingVolumeOpenGL2-8.1\
-lvtksqlite-8.1\
-lvtksys-8.1\
-lvtktiff-8.1\
-lvtkverdict-8.1\
-lvtkViewsContext2D-8.1\
-lvtkViewsCore-8.1\
-lvtkViewsInfovis-8.1\
-lvtkViewsQt-8.1\
-lvtkzlib-8.1\
}
(三)测试代码
#include "widget.h"
#include "ui_widget.h"
#include <QDebug>
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/obj_io.h>
#include <pcl/PolygonMesh.h>
#include <pcl/point_cloud.h>
#include <pcl/io/vtk_lib_io.h>//loadPolygonFileOBJ所属头文件;
#include <pcl/visualization/pcl_visualizer.h>
Widget::Widget(QWidget *parent)
: QWidget(parent)
, ui(new Ui::Widget)
{
ui->setupUi(this);
std::string fileName = "E:/wokspace/PROJECT/3D_visualization_platform/pcl_data/20210507111715441.pcd";
//std::string fileName = "chahu.obj";
pcl::PolygonMesh meshData;//读取原始数据
pcl::io::loadPolygonFile(fileName,meshData);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
cloud.reset(new pcl::PointCloud<pcl::PointXYZ>);
pcl::fromPCLPointCloud2(meshData.cloud, *cloud);//将obj数据转换为点云数据
// 显示结果图
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
viewer->setBackgroundColor (0, 0, 0); //设置背景
viewer->addCoordinateSystem (15.0); //设置坐标系
viewer->initCameraParameters ();
viewer->addPointCloud(cloud, "show");
while (!viewer->wasStopped())
{
viewer->spinOnce (100);
boost::this_thread::sleep (boost::posix_time::microseconds (100000));
}
qDebug()<<"shuchu jieshu";
}
Widget::~Widget()
{
delete ui;
}
debug程序启动的时候比较慢,要耐心等待一下,最终会弹出点云图
八、Qt-VTK测试
(一)pro配置
配置如七(二)中所示
(二)代码
头文件
#ifndef WIDGET_H
#define WIDGET_H
#include <QWidget>
#include <QFileDialog>
//#include <vtkAutoInit.h>
//VTK_MODULE_INIT(vtkRenderingOpenGL2)
//VTK_MODULE_INIT(vtkInteractionStyle)
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/io/pcd_io.h>
#include <QVTKWidget.h>
#include <vtkRenderWindow.h>
QT_BEGIN_NAMESPACE
namespace Ui { class Widget; }
QT_END_NAMESPACE
class Widget : public QWidget
{
Q_OBJECT
public:
Widget(QWidget *parent = nullptr);
~Widget();
void initialOPVtkWidget();
QVTKWidget *mVTKWidget;
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
public slots:
void showpoint();
private slots:
void on_pushButton_clicked();
private:
Ui::Widget *ui;
};
#endif // WIDGET_H
cpp
#include "widget.h"
#include "ui_widget.h"
#include <QDebug>
#include <vtkAutoInit.h>
#include <pcl/filters/radius_outlier_removal.h>
#include <pcl/filters/conditional_removal.h>
#include <pcl/io/pcd_io.h>
#include <QTimer>
#include <QHBoxLayout>
#include <QVBoxLayout>
#include <QTimer>
#include <vtkOutputWindow.h> //消除vtk警告窗口的
VTK_MODULE_INIT(vtkRenderingOpenGL2); //必须位opengl2
VTK_MODULE_INIT(vtkInteractionStyle);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
Widget::Widget(QWidget *parent)
: QWidget(parent)
, ui(new Ui::Widget)
{
ui->setupUi(this);
initialOPVtkWidget();
mVTKWidget = new QVTKWidget(this);
QVBoxLayout *layout = new QVBoxLayout(this);
layout->addWidget(mVTKWidget);
QSizePolicy sizePolicy1(QSizePolicy::Preferred, QSizePolicy::Preferred);
sizePolicy1.setHorizontalStretch(0);
sizePolicy1.setVerticalStretch(0);
sizePolicy1.setHeightForWidth(mVTKWidget->sizePolicy().hasHeightForWidth());
mVTKWidget->setSizePolicy(sizePolicy1);//设置vtk视图大小
mVTKWidget->setMinimumSize(QSize(1200, 800));
mVTKWidget->showFullScreen();
viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));//初始化viewer
mVTKWidget->SetRenderWindow(viewer->getRenderWindow());//关联鼠标事件
viewer->setupInteractor(mVTKWidget->GetInteractor(), mVTKWidget->GetRenderWindow());//设置显示部件
viewer->addPointCloud(cloud, "cloud");
viewer->addCoordinateSystem(383);
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1.3, "cloud");
pcl::PointXYZ p;
for (int i = 0; i < 100; i++) {
p.x = rand() % 100;
p.y = rand() % 100;
p.z = rand() % 100;
cloud->push_back(p);
}
viewer->updatePointCloud<pcl::PointXYZ>(cloud, "cloud");
mVTKWidget->update();
QTimer *time = new QTimer(this);
connect(time, SIGNAL(timeout()), this, SLOT(showpoint()));
time->start(50);
}
Widget::~Widget()
{
delete ui;
}
void Widget::initialOPVtkWidget()
{
cloud.reset(new pcl::PointCloud<pcl::PointXYZ>);
viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));
viewer->addPointCloud(cloud, "cloud");
//消除vtk警告输出窗口
vtkOutputWindow::SetGlobalWarningDisplay(0);//对应头文件#include <vtkOutputWindow.h>
}
void Widget::on_pushButton_clicked()
{
onOpen();
}
//原文链接:https://blog.csdn.net/qq_34512507/article/details/100991932
void Widget::showpoint()
{
cloud->clear();
pcl::PointXYZ p;
for (int i = 0; i < 100; i++) {
p.x = rand() % 100;
p.y = rand() % 100;
p.z = rand() % 100;
cloud->push_back(p);
}
viewer->updatePointCloud<pcl::PointXYZ>(cloud, "cloud");
mVTKWidget->update();
}
参考:
(三)消除vtk警告窗口
运行程序时,除了弹出主窗口,还会弹出一个关于VTK的警告窗口,添加如下代码可关闭窗口
#include <vtkOutputWindow.h>
//消除vtk警告输出窗口
vtkOutputWindow::SetGlobalWarningDisplay(0);//必须得添加头文件才行
(四)出现的问题
1.widget.obj:-1: error: LNK2001: 无法解析的外部符号 "void __cdecl vtkRenderingOpenGL_AutoInit_Construct(void)" (?vtkRenderingOpenGL_AutoInit_Construct@@YAXXZ)
vtkRenderingOpenGL 这个再代码中一查,发现头文件中添加了VTK_MODULE_INIT(vtkRenderingOpenGL)
但我的库中是vtkRenderingOpenGL2,
后面改为:VTK_MODULE_INIT(vtkRenderingOpenGL2)
2. 概要信息中提示的错误:
2023-08-03T16:24:32 Clang Code Model: Error: The clangbackend process has finished unexpectedly and was restarted.
参考:
Qt通过QVTKWidget显示VTK交互窗口_FRED618的博客-CSDN博客https://blog.csdn.net/qq_37441588/article/details/118677431