这部分讲解在PyQt界面上显示2D图及3D点云（vtk显示、PCL数据转化为vtk数据显示）
配置环境见前面博客PyQt5实现2D和3D及深度学习平台Demo(一）
一. PyQt界面显示2D图
1.界面上创建show image按钮及QLabel(界面上其它控件可以忽视），这里的按钮如何绑定槽也参见我的博客
2. 所绑定的按钮槽里的函数代码如下：（这里Pcharm如何添加Qt Designer、PyUI命令都略过，参见上面链接博客）
def showImage(self):
image = cv.imread("D:\\cat003.jpg")
dstimage = cv.cvtColor(image,cv.COLOR_BGR2RGB);
Qtemp = QImage(dstimage[:], dstimage.shape[1], dstimage.shape[0], dstimage.shape[1]*3, QImage.Format_RGB888)
pixmap_Qtemp = QPixmap.fromImage(Qtemp)
#pixmap_Qtemp = QPixmap.fromImage(Qtemp).scaled(self.label.width(), self.label.height())
self.label.setPixmap(pixmap_Qtemp)
self.label.resize(Qtemp.size())运行程序，显示如下：
二. pyqt5界面显示vtk数据
界面设计如下，有三个控件：Widget、Form layout(添加到Widget控件中、Push Button）
3.通过PyUIC命令生成py文件，这里我的取名是testvtkgui.py
4.编写测试py文件，我取名为testvtkgui.py文件，文件代码如下：
from PyQt5.QtWidgets import QApplication, QMainWindow
import sys
import vtk
from PyQt5 import QtCore, QtGui, QtWidgets
from vtk.qt.QVTKRenderWindowInteractor import QVTKRenderWindowInteractor
from testvtk import Ui_MainWindow
import pcl.pcl_visualization
class Mywindow(QtWidgets.QMainWindow, Ui_MainWindow):
def __init__(self):
super(Mywindow, self).__init__()
self.setupUi(self)
self.setWindowTitle('test_gui')
self.frame = QtWidgets.QFrame()
self.vtkWidget = QVTKRenderWindowInteractor(self.frame)
self.formLayout.addWidget(self.vtkWidget)
self.ren = vtk.vtkRenderer()
self.vtkWidget.GetRenderWindow().AddRenderer(self.ren)
self.iren = self.vtkWidget.GetRenderWindow().GetInteractor()
# Create source
source = vtk.vtkConeSource()
source.SetCenter(0, 0, 0)
source.SetRadius(0.1)
source1 = vtk.vtkSphereSource()
source1.SetCenter(0, 0, 0)
source1.SetRadius(0.3)
# Create a mapper
mapper = vtk.vtkPolyDataMapper()
mapper.SetInputConnection(source.GetOutputPort())
mapper1 = vtk.vtkPolyDataMapper()
mapper1.SetInputConnection(source1.GetOutputPort())
# Create an actor
actor = vtk.vtkActor()
actor.SetMapper(mapper)
actor1 = vtk.vtkActor()
actor1.SetMapper(mapper1)
self.ren.AddActor(actor)
self.ren.AddActor(actor1)
self.ren.ResetCamera()
#self.frame.setLayout(self.formLayout)
#self.setCentralWidget(self.frame)
self.show()
self.iren.Initialize()
if __name__ == "__main__":
app = QtWidgets.QApplication(sys.argv)
window = Mywindow()
window.show()
sys.exit(app.exec_())
run该测试文件testvtkgui.py文件，界面显示如下：
三. Python-pcl点云数据转化为vtk数据，并在pyqt5界面显示
利用第二部分生成的testvtk.py文件，创建新的测试py文件，这里我取名为testvtkgui-pcl.py，代码理内容如下：
from PyQt5.QtWidgets import QApplication, QMainWindow
import sys
import vtk
from PyQt5 import QtCore, QtGui, QtWidgets
from vtk.qt.QVTKRenderWindowInteractor import QVTKRenderWindowInteractor
from testvtk import Ui_MainWindow
import pcl.pcl_visualization
class Mywindow(QtWidgets.QMainWindow, Ui_MainWindow):
def __init__(self):
super(Mywindow, self).__init__()
self.setupUi(self)
self.setWindowTitle('test_gui')
self.frame = QtWidgets.QFrame()
self.vtkWidget = QVTKRenderWindowInteractor(self.frame)
self.formLayout.addWidget(self.vtkWidget)
self.ren = vtk.vtkRenderer()
self.vtkWidget.GetRenderWindow().AddRenderer(self.ren)
self.iren = self.vtkWidget.GetRenderWindow().GetInteractor()
# Create source
fileName = "D:\\rabbit.pcd"; # 注意更换自己的pcd点云文件
cloud = pcl.load_XYZRGB(fileName)
poins = vtk.vtkPoints()
for i in range(cloud.size):
dp = cloud[i]
poins.InsertNextPoint(dp[0], dp[1], dp[2])
polydata = vtk.vtkPolyData()
polydata.SetPoints(poins)
glyphFilter = vtk.vtkVertexGlyphFilter()
glyphFilter.SetInputData(polydata)
glyphFilter.Update()
dataMapper = vtk.vtkPolyDataMapper()
dataMapper.SetInputConnection(glyphFilter.GetOutputPort())
# Create an actor
actor = vtk.vtkActor()
actor.SetMapper(dataMapper)
actor1 = vtk.vtkActor()
actor1.SetMapper(dataMapper)
self.ren.AddActor(actor)
self.ren.AddActor(actor1)
self.ren.ResetCamera()
#self.frame.setLayout(self.formLayout)
#self.setCentralWidget(self.frame)
self.show()
self.iren.Initialize()
if __name__ == "__main__":
app = QtWidgets.QApplication(sys.argv)
window = Mywindow()
window.show()
sys.exit(app.exec_())
运行，结果如下：
测试文件可以从如上链接博客中获取（2D图或者3D点云图）