这样场合的应用很少，因为MFC可以很好方便的在界面集成PCL的显示窗口，见我的博客，但这篇博客还是探索下吧。
这里并没有采用网上资料所讲的，通过编写CMakeList.txt然后进行CMake来生成工程。当然此种方式博主也试过是可以的。下面讲的是惯用的方法。
一. 在MFC界面嵌入VTK显示窗口
1. 新建一个MFC工程，我这里取名为test_mfc_show
2. 配置工程属性
由于我电脑上有PCL 1.8,1的库，且库中的3rdParty中的VTK8.0我也自己重新编译替换了原来的vtk库，所以我会用把PLC的库一起配置进来，如果你用不到PLC，可以把如下和PLC相关的部分去掉
可以参考我的博客看如何去编译一份自己的vtk库，可以参考我的博客了解很多其他一些工作。为了不迷糊，我还是逐一贴上配置吧。
值得说明的是：我这里编译的vtk有vtkGUISupportMFC-8.0.dll(对比上面博客中编译vtk的版本方式），即把Cmake的Module选项下的Module_vtkGUISupportMFC项进行了勾选。
如下你可以只添加和vtk相关的内容：（我这里多添加了pcl和opencv）
（1）test_mfc_show属性页中配置属性-》调试-》环境
path=C:\Program Files\PCL 1.8.1\bin;C:\Users\76764\Documents\opencv\build\x64\vc14\bin;C:\Program Files\PCL 1.8.1\3rdParty\Tools;C:\Program Files\PCL 1.8.1\3rdParty\VTK\bin;D:\mycode\0-PCL_VTK\OpenCV4.2.0\opencv\build\x64\vc15\bin（2）test_mfc_show属性页中配置属性-》VC++目录-》包含目录
C:\Program Files\PCL 1.8.1\include\pcl-1.8
C:\Program Files\PCL 1.8.1\3rdParty\Boost\include\boost-1_64
C:\Program Files\PCL 1.8.1\3rdParty\Qhull\include
C:\Program Files\PCL 1.8.1\3rdParty\FLANN\include\flann
C:\Program Files\PCL 1.8.1\3rdParty\Eigen\eigen3
C:\Program Files\PCL 1.8.1\3rdParty\VTK\include\vtk-8.0
C:\Program Files\PCL 1.8.1\3rdParty\FLANN\include
D:\mycode\0-PCL_VTK\OpenCV4.2.0\opencv\build\include
D:\mycode\0-PCL_VTK\OpenCV4.2.0\opencv\build\include\opencv2（3）test_mfc_show属性页中C/C++ -》预处理器-》预处理器定义
_WINDOWS
_DEBUG
_DEBUG_NEW
_SCL_SECURE_NO_WARNINGS
_CRT_SECURE_NO_WARNINGS
PCL_NO_PRECOMPILE
_CRT_SECURE_NO_DEPRECATE
_SILENCE_FPOS_SEEKPOS_DEPRECATION_WARNING（4）test_mfc_show属性页中链接器-》常规-》附加库目录
C:\Program Files\PCL 1.8.1\3rdParty\VTK\lib
C:\Program Files\PCL 1.8.1\3rdParty\FLANN\lib
C:\Program Files\PCL 1.8.1\3rdParty\Qhull\lib
C:\Program Files\PCL 1.8.1\3rdParty\Boost\lib
C:\Program Files\PCL 1.8.1\lib
C:\Program Files\PCL 1.8.1\3rdParty\Lib
D:\mycode\0-PCL_VTK\OpenCV4.2.0\opencv\build\x64\vc15\lib（5）test_mfc_show属性页中链接器-》输入-》附加依赖项
vtknetcdf_c++-gd.lib
pcl_common_debug.lib
pcl_features_debug.lib
pcl_filters_debug.lib
pcl_io_ply_debug.lib
pcl_io_debug.lib
pcl_kdtree_debug.lib
pcl_keypoints_debug.lib
pcl_ml_debug.lib
pcl_octree_debug.lib
pcl_outofcore_debug.lib
pcl_people_debug.lib
pcl_recognition_debug.lib
pcl_registration_debug.lib
pcl_sample_consensus_debug.lib
pcl_search_debug.lib
pcl_segmentation_debug.lib
pcl_stereo_debug.lib
pcl_surface_debug.lib
pcl_tracking_debug.lib
pcl_visualization_debug.lib
libboost_atomic-vc141-mt-gd-1_64.lib
libboost_bzip2-vc141-mt-gd-1_64.lib
libboost_chrono-vc141-mt-gd-1_64.lib
libboost_container-vc141-mt-gd-1_64.lib
libboost_context-vc141-mt-gd-1_64.lib
libboost_coroutine-vc141-mt-gd-1_64.lib
libboost_date_time-vc141-mt-gd-1_64.lib
libboost_exception-vc141-mt-gd-1_64.lib
libboost_fiber-vc141-mt-gd-1_64.lib
libboost_filesystem-vc141-mt-gd-1_64.lib
libboost_graph-vc141-mt-gd-1_64.lib
libboost_graph_parallel-vc141-mt-gd-1_64.lib
libboost_iostreams-vc141-mt-gd-1_64.lib
libboost_locale-vc141-mt-gd-1_64.lib
libboost_log-vc141-mt-gd-1_64.lib
libboost_log_setup-vc141-mt-gd-1_64.lib
libboost_math_c99-vc141-mt-gd-1_64.lib
libboost_math_c99f-vc141-mt-gd-1_64.lib
libboost_math_c99l-vc141-mt-gd-1_64.lib
libboost_math_tr1-vc141-mt-gd-1_64.lib
libboost_math_tr1f-vc141-mt-gd-1_64.lib
libboost_math_tr1l-vc141-mt-gd-1_64.lib
libboost_mpi-vc141-mt-gd-1_64.lib
libboost_numpy3-vc141-mt-gd-1_64.lib
libboost_numpy-vc141-mt-gd-1_64.lib
libboost_prg_exec_monitor-vc141-mt-gd-1_64.lib
libboost_program_options-vc141-mt-gd-1_64.lib
libboost_python3-vc141-mt-gd-1_64.lib
libboost_python-vc141-mt-gd-1_64.lib
libboost_random-vc141-mt-gd-1_64.lib
libboost_regex-vc141-mt-gd-1_64.lib
libboost_serialization-vc141-mt-gd-1_64.lib
libboost_signals-vc141-mt-gd-1_64.lib
libboost_system-vc141-mt-gd-1_64.lib
libboost_test_exec_monitor-vc141-mt-gd-1_64.lib
libboost_thread-vc141-mt-gd-1_64.lib
libboost_timer-vc141-mt-gd-1_64.lib
libboost_type_erasure-vc141-mt-gd-1_64.lib
libboost_unit_test_framework-vc141-mt-gd-1_64.lib
libboost_wave-vc141-mt-gd-1_64.lib
libboost_wserialization-vc141-mt-gd-1_64.lib
libboost_zlib-vc141-mt-gd-1_64.lib
flann-gd.lib
flann_cpp-gd.lib
flann_cpp_s-gd.lib
flann_s-gd.lib
qhull_d.lib
qhullcpp_d.lib
qhullstatic_d.lib
qhullstatic_r_d.lib
qhull_p_d.lib
qhull_r_d.lib
vtkalglib-8.0-gd.lib
vtkChartsCore-8.0-gd.lib
vtkCommonColor-8.0-gd.lib
vtkCommonComputationalGeometry-8.0-gd.lib
vtkCommonCore-8.0-gd.lib
vtkCommonDataModel-8.0-gd.lib
vtkCommonExecutionModel-8.0-gd.lib
vtkCommonMath-8.0-gd.lib
vtkCommonMisc-8.0-gd.lib
vtkCommonSystem-8.0-gd.lib
vtkCommonTransforms-8.0-gd.lib
vtkDICOMParser-8.0-gd.lib
vtkDomainsChemistry-8.0-gd.lib
vtkDomainsChemistryOpenGL2-8.0-gd.lib
vtkexoIIc-8.0-gd.lib
vtkexpat-8.0-gd.lib
vtkFiltersAMR-8.0-gd.lib
vtkFiltersCore-8.0-gd.lib
vtkFiltersExtraction-8.0-gd.lib
vtkFiltersFlowPaths-8.0-gd.lib
vtkFiltersGeneral-8.0-gd.lib
vtkFiltersGeneric-8.0-gd.lib
vtkFiltersGeometry-8.0-gd.lib
vtkFiltersHybrid-8.0-gd.lib
vtkFiltersHyperTree-8.0-gd.lib
vtkFiltersImaging-8.0-gd.lib
vtkFiltersModeling-8.0-gd.lib
vtkFiltersParallel-8.0-gd.lib
vtkFiltersParallelImaging-8.0-gd.lib
vtkFiltersPoints-8.0-gd.lib
vtkFiltersProgrammable-8.0-gd.lib
vtkFiltersSelection-8.0-gd.lib
vtkFiltersSMP-8.0-gd.lib
vtkFiltersSources-8.0-gd.lib
vtkFiltersStatistics-8.0-gd.lib
vtkFiltersTexture-8.0-gd.lib
vtkFiltersTopology-8.0-gd.lib
vtkFiltersVerdict-8.0-gd.lib
vtkfreetype-8.0-gd.lib
vtkGeovisCore-8.0-gd.lib
vtkgl2ps-8.0-gd.lib
vtkglew-8.0-gd.lib
vtkGUISupportMFC-8.0-gd.lib
vtkGUISupportQt-8.0-gd.lib
vtkGUISupportQtSQL-8.0-gd.lib
vtkhdf5-8.0-gd.lib
vtkhdf5_hl-8.0-gd.lib
vtkImagingColor-8.0-gd.lib
vtkImagingCore-8.0-gd.lib
vtkImagingFourier-8.0-gd.lib
vtkImagingGeneral-8.0-gd.lib
vtkImagingHybrid-8.0-gd.lib
vtkImagingMath-8.0-gd.lib
vtkImagingMorphological-8.0-gd.lib
vtkImagingSources-8.0-gd.lib
vtkImagingStatistics-8.0-gd.lib
vtkImagingStencil-8.0-gd.lib
vtkInfovisCore-8.0-gd.lib
vtkInfovisLayout-8.0-gd.lib
vtkInteractionImage-8.0-gd.lib
vtkInteractionStyle-8.0-gd.lib
vtkInteractionWidgets-8.0-gd.lib
vtkIOAMR-8.0-gd.lib
vtkIOCore-8.0-gd.lib
vtkIOEnSight-8.0-gd.lib
vtkIOExodus-8.0-gd.lib
vtkIOExport-8.0-gd.lib
vtkIOExportOpenGL2-8.0-gd.lib
vtkIOGeometry-8.0-gd.lib
vtkIOImage-8.0-gd.lib
vtkIOImport-8.0-gd.lib
vtkIOInfovis-8.0-gd.lib
vtkIOLegacy-8.0-gd.lib
vtkIOLSDyna-8.0-gd.lib
vtkIOMINC-8.0-gd.lib
vtkIOMovie-8.0-gd.lib
vtkIONetCDF-8.0-gd.lib
vtkIOParallel-8.0-gd.lib
vtkIOParallelXML-8.0-gd.lib
vtkIOPLY-8.0-gd.lib
vtkIOSQL-8.0-gd.lib
vtkIOTecplotTable-8.0-gd.lib
vtkIOVideo-8.0-gd.lib
vtkIOXML-8.0-gd.lib
vtkIOXMLParser-8.0-gd.lib
vtkjpeg-8.0-gd.lib
vtkjsoncpp-8.0-gd.lib
vtklibharu-8.0-gd.lib
vtklibxml2-8.0-gd.lib
vtkLocalExample-8.0-gd.lib
vtklz4-8.0-gd.lib
vtkmetaio-8.0-gd.lib
vtkNetCDF-8.0-gd.lib
vtkoggtheora-8.0-gd.lib
vtkParallelCore-8.0-gd.lib
vtkpng-8.0-gd.lib
vtkproj4-8.0-gd.lib
vtkRenderingAnnotation-8.0-gd.lib
vtkRenderingContext2D-8.0-gd.lib
vtkRenderingContextOpenGL2-8.0-gd.lib
vtkRenderingCore-8.0-gd.lib
vtkRenderingFreeType-8.0-gd.lib
vtkRenderingGL2PSOpenGL2-8.0-gd.lib
vtkRenderingImage-8.0-gd.lib
vtkRenderingLabel-8.0-gd.lib
vtkRenderingLOD-8.0-gd.lib
vtkRenderingOpenGL2-8.0-gd.lib
vtkRenderingQt-8.0-gd.lib
vtkRenderingVolume-8.0-gd.lib
vtkRenderingVolumeOpenGL2-8.0-gd.lib
vtksqlite-8.0-gd.lib
vtksys-8.0-gd.lib
vtkTestingGenericBridge-8.0-gd.lib
vtkTestingIOSQL-8.0-gd.lib
vtkTestingRendering-8.0-gd.lib
vtktiff-8.0-gd.lib
vtkverdict-8.0-gd.lib
vtkViewsContext2D-8.0-gd.lib
vtkViewsCore-8.0-gd.lib
vtkViewsInfovis-8.0-gd.lib
vtkViewsQt-8.0-gd.lib
vtkzlib-8.0-gd.lib
opengl32.lib
OpenNI2.lib
opencv_world420d.lib3.界面设计如下，两个按钮和一个picture control控件
4.添加如下vtkControl.h和vtkControl.cpp，就是在CStatic的基础上派生了CvtkControl类，重写了PreSubclassWindow函数，去绘制vtk
vtkControl.h中代码如下：
#pragma once
#include <afxwin.h>
#include "vtkSmartPointer.h"
#include "vtkRenderer.h"
#include "vtkRenderWindow.h"
#include "vtkRenderWindowInteractor.h"
class CvtkControl : public CStatic
{
DECLARE_DYNAMIC(CvtkControl)
public:
CvtkControl();
virtual ~CvtkControl();
protected:
DECLARE_MESSAGE_MAP()
protected:
virtual void PreSubclassWindow();
public:
afx_msg void OnPaint();
void Render();
vtkSmartPointer<vtkRenderWindowInteractor> GetInteractor() {return m_RenderWindow->GetInteractor();}
vtkSmartPointer<vtkRenderer> GetRenderer() {return m_Renderer;}
public:
vtkSmartPointer<vtkRenderer> m_Renderer;
vtkSmartPointer<vtkRenderWindow> m_RenderWindow;
};
vtkControl.cpp中代码如下：
#include "pch.h"
#include "test_mfc_showDlg.h"
#include "vtkControl.h"
IMPLEMENT_DYNAMIC(CvtkControl, CStatic)
CvtkControl::CvtkControl()
{
}
CvtkControl::~CvtkControl()
{
}
BEGIN_MESSAGE_MAP(CvtkControl, CStatic)
ON_WM_PAINT()
END_MESSAGE_MAP()
// CvtkView3D message handlers
void CvtkControl::OnPaint()
{
CPaintDC dc(this); // device context for painting
// TODO: Add your message handler code here
// Do not call CStatic::OnPaint() for painting messages
}
void CvtkControl::Render()
{
m_Renderer->ResetCamera();
m_RenderWindow->Render();
}
void CvtkControl::PreSubclassWindow()
{
// TODO: Add your specialized code here and/or call the base class
CRect rect;
GetClientRect(rect);
//创建数据源：创建一个圆锥，并设置其参数：高度、底面半径和分辨率
vtkConeSource* cone = vtkConeSource::New();
cone->SetHeight(3.0);
cone->SetRadius(1.0);
cone->SetResolution(100);
//映射器：创建一个多边形映射器，用于把多边形数据映射为可以被计算机渲染的图元
vtkPolyDataMapper* coneMapper = vtkPolyDataMapper::New();
coneMapper->SetInputConnection(cone->GetOutputPort());
//创建一个Actor，并关联一个映射器，从而确定Actor的形状
vtkActor* coneActor = vtkActor::New();
coneActor->SetMapper(coneMapper);
//方法1：设置演员颜色
coneActor->GetProperty()->SetColor(1.0, 0.0, 0.0);//设置对象颜色为红色
//方法2：设置演员颜色
//vtkProperty* coneProperty = vtkProperty::New();//设置一个Property对象
//coneProperty->SetColor(1.0, 0.0, 0.0);
//coneActor->SetProperty(coneProperty);
//渲染器：创建一个渲染器，添加要渲染的演员
m_Renderer = vtkSmartPointer<vtkRenderer>::New();
m_Renderer->AddActor(coneActor);
m_Renderer->SetBackground(0.1, 0.2, 0.4);
m_RenderWindow = vtkSmartPointer<vtkRenderWindow>::New();
m_RenderWindow->SetParentId(this->m_hWnd);
m_RenderWindow->SetSize(rect.Width(), rect.Height());
m_RenderWindow->AddRenderer(m_Renderer);
if(m_RenderWindow->GetInteractor() == NULL)
{
vtkSmartPointer<vtkRenderWindowInteractor> RenderWindowInteractor =
vtkSmartPointer<vtkRenderWindowInteractor>::New();
RenderWindowInteractor->SetRenderWindow(m_RenderWindow);
RenderWindowInteractor->Initialize();
}
CStatic::PreSubclassWindow();
}
然后在test_mfc_showDlg.h中添加CvtkControl对象，该文件中代码如下：
// test_mfc_showDlg.h: 头文件
//
#pragma push_macro("min")
#pragma push_macro("max")
#undef min
#undef max
#include "afxwin.h"
#include "afxcmn.h"
#include "vtkView.h"
#include "vtkControl.h"
#include <boost/thread/thread.hpp> //多线程
#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/console/parse.h>
#include <pcl/point_types.h>
#include <pcl/range_image/range_image.h>
#include <pcl/visualization/range_image_visualizer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include "opencv2/opencv.hpp"
#include "opencv2/highgui/highgui_c.h"
#pragma once
// CtestmfcshowDlg 对话框
class CtestmfcshowDlg : public CDialogEx
{
// 构造
public:
CtestmfcshowDlg(CWnd* pParent = nullptr); // 标准构造函数
CvtkControl m_3DView;
// 对话框数据
#ifdef AFX_DESIGN_TIME
enum { IDD = IDD_TEST_MFC_SHOW_DIALOG };
#endif
protected:
virtual void DoDataExchange(CDataExchange* pDX); // DDX/DDV 支持
// 实现
protected:
HICON m_hIcon;
// 生成的消息映射函数
virtual BOOL OnInitDialog();
afx_msg void OnSysCommand(UINT nID, LPARAM lParam);
afx_msg void OnPaint();
afx_msg HCURSOR OnQueryDragIcon();
DECLARE_MESSAGE_MAP()
public:
afx_msg void OnBnClickedButton3();
afx_msg void OnBnClickedOk();
};
然后在test_mfc_showDlg.cpp中将界面上的picture control和对象m_3Dview关联在一起，文件中代码如下：
// test_mfc_showDlg.cpp: 实现文件
//
#include "pch.h"
#include "framework.h"
#include "test_mfc_show.h"
#include "test_mfc_showDlg.h"
#include "afxdialogex.h"
#include "vtkCommand.h"
#include "vtkRenderer.h"
#include "vtkCellPicker.h"
#include "vtkProperty.h"
#include "vtkPlaneSource.h"
#include "vtkMetaImageReader.h"
#include "vtkImagePlaneWidget.h"
#include "vtkPlaneSource.h"
#include "vtkPlane.h"
#include "vtkSmartPointer.h"
#include "vtkResliceCursorActor.h"
#include "vtkResliceCursorPolyDataAlgorithm.h"
#include "vtkResliceCursor.h"
#include "vtkResliceCursorWidget.h"
#include "vtkResliceCursorLineRepresentation.h"
#include "vtkResliceCursorThickLineRepresentation.h"
#include "vtkImageReader2Factory.h"
#include "vtkImageReader2.h"
using namespace pcl;
using namespace pcl::io;
using namespace std;
using pcl::visualization::PointCloudColorHandlerGenericField;
using pcl::visualization::PointCloudColorHandlerCustom;
//#ifdef _DEBUG
//#define new DEBUG_NEW
//#endif
// 用于应用程序“关于”菜单项的 CAboutDlg 对话框
class CAboutDlg : public CDialogEx
{
public:
CAboutDlg();
// 对话框数据
#ifdef AFX_DESIGN_TIME
enum { IDD = IDD_ABOUTBOX };
#endif
protected:
virtual void DoDataExchange(CDataExchange* pDX); // DDX/DDV 支持
// 实现
protected:
DECLARE_MESSAGE_MAP()
};
CAboutDlg::CAboutDlg() : CDialogEx(IDD_ABOUTBOX)
{
}
void CAboutDlg::DoDataExchange(CDataExchange* pDX)
{
CDialogEx::DoDataExchange(pDX);
}
BEGIN_MESSAGE_MAP(CAboutDlg, CDialogEx)
END_MESSAGE_MAP()
// CtestmfcshowDlg 对话框
CtestmfcshowDlg::CtestmfcshowDlg(CWnd* pParent /*=nullptr*/)
: CDialogEx(IDD_TEST_MFC_SHOW_DIALOG, pParent)
{
m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
}
void CtestmfcshowDlg::DoDataExchange(CDataExchange* pDX)
{
CDialogEx::DoDataExchange(pDX);
DDX_Control(pDX, IDC_3D, m_3DView);
}
BEGIN_MESSAGE_MAP(CtestmfcshowDlg, CDialogEx)
ON_WM_SYSCOMMAND()
ON_WM_PAINT()
ON_WM_QUERYDRAGICON()
ON_BN_CLICKED(IDC_BUTTON3, &CtestmfcshowDlg::OnBnClickedButton3)
ON_BN_CLICKED(IDOK, &CtestmfcshowDlg::OnBnClickedOk)
END_MESSAGE_MAP()
// CtestmfcshowDlg 消息处理程序
BOOL CtestmfcshowDlg::OnInitDialog()
{
CDialogEx::OnInitDialog();
// 将“关于...”菜单项添加到系统菜单中。
// IDM_ABOUTBOX 必须在系统命令范围内。
ASSERT((IDM_ABOUTBOX & 0xFFF0) == IDM_ABOUTBOX);
ASSERT(IDM_ABOUTBOX < 0xF000);
CMenu* pSysMenu = GetSystemMenu(FALSE);
if (pSysMenu != nullptr)
{
BOOL bNameValid;
CString strAboutMenu;
bNameValid = strAboutMenu.LoadString(IDS_ABOUTBOX);
ASSERT(bNameValid);
if (!strAboutMenu.IsEmpty())
{
pSysMenu->AppendMenu(MF_SEPARATOR);
pSysMenu->AppendMenu(MF_STRING, IDM_ABOUTBOX, strAboutMenu);
}
}
// 设置此对话框的图标。 当应用程序主窗口不是对话框时，框架将自动
// 执行此操作
SetIcon(m_hIcon, TRUE); // 设置大图标
SetIcon(m_hIcon, FALSE); // 设置小图标
// TODO: 在此添加额外的初始化代码
return TRUE; // 除非将焦点设置到控件，否则返回 TRUE
}
void CtestmfcshowDlg::OnSysCommand(UINT nID, LPARAM lParam)
{
if ((nID & 0xFFF0) == IDM_ABOUTBOX)
{
CAboutDlg dlgAbout;
dlgAbout.DoModal();
}
else
{
CDialogEx::OnSysCommand(nID, lParam);
}
}
// 如果向对话框添加最小化按钮，则需要下面的代码
// 来绘制该图标。 对于使用文档/视图模型的 MFC 应用程序，
// 这将由框架自动完成。
void CtestmfcshowDlg::OnPaint()
{
if (IsIconic())
{
CPaintDC dc(this); // 用于绘制的设备上下文
SendMessage(WM_ICONERASEBKGND, reinterpret_cast<WPARAM>(dc.GetSafeHdc()), 0);
// 使图标在工作区矩形中居中
int cxIcon = GetSystemMetrics(SM_CXICON);
int cyIcon = GetSystemMetrics(SM_CYICON);
CRect rect;
GetClientRect(&rect);
int x = (rect.Width() - cxIcon + 1) / 2;
int y = (rect.Height() - cyIcon + 1) / 2;
// 绘制图标
dc.DrawIcon(x, y, m_hIcon);
}
else
{
CDialogEx::OnPaint();
}
}
//当用户拖动最小化窗口时系统调用此函数取得光标
//显示。
HCURSOR CtestmfcshowDlg::OnQueryDragIcon()
{
return static_cast<HCURSOR>(m_hIcon);
}
void CtestmfcshowDlg::OnBnClickedButton3()
{
}
void CtestmfcshowDlg::OnBnClickedOk()
{
CDialogEx::OnOK();
}
运行工程如下：
控件内的VTK Render能够跟随鼠标动作做相应滚动
二. vtk窗口内显示pcl读入的点云数据
1. 在上面工作基础上，修改PreSubclassWindow函数里的代码，注意这里就要配置相应的pcl路径，可参见上面的工程属性配置，函数里的代码修改如下：
pcd测试文件见如下链接：
链接：https://pan.baidu.com/s/1P0oIlJzdws4eqT9BBekLzA
提取码：mp2r
void CvtkControl::PreSubclassWindow()
{
// TODO: Add your specialized code here and/or call the base class
CRect rect;
GetClientRect(rect);
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;
}
cout << cloud->points.size() << endl;
vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();//key code
vtkIdType size = cloud->points.size();
int n = 0;
for (vtkIdType rowId = 0; rowId < size; rowId++)
{
auto dp = cloud->points.at(rowId);
if (dp.z == 0) {
continue;
}
points->InsertNextPoint(dp.x, dp.y, dp.z);//key code
n++;
}
vtkSmartPointer<vtkPolyData> polydata = vtkSmartPointer<vtkPolyData>::New();
polydata->SetPoints(points);
vtkSmartPointer<vtkVertexGlyphFilter> glyphFilter = vtkSmartPointer<vtkVertexGlyphFilter>::New();
glyphFilter->SetInputData(polydata);
glyphFilter->Update();
vtkPolyDataMapper *dataMapper = vtkPolyDataMapper::New();
dataMapper->SetInputConnection(glyphFilter->GetOutputPort());
vtkActor* coneActor = vtkActor::New();
coneActor->SetMapper(dataMapper);
coneActor->GetProperty()->SetColor(1.0, 0.0, 0.0);//设置对象颜色为红色
//方法2：设置演员颜色
//vtkProperty* coneProperty = vtkProperty::New();//设置一个Property对象
//coneProperty->SetColor(1.0, 0.0, 0.0);
//coneActor->SetProperty(coneProperty);
//渲染器：创建一个渲染器，添加要渲染的演员
m_Renderer = vtkSmartPointer<vtkRenderer>::New();
m_Renderer->AddActor(coneActor);
m_Renderer->SetBackground(0.1, 0.2, 0.4);
m_RenderWindow = vtkSmartPointer<vtkRenderWindow>::New();
m_RenderWindow->SetParentId(this->m_hWnd);
m_RenderWindow->SetSize(rect.Width(), rect.Height());
m_RenderWindow->AddRenderer(m_Renderer);
if(m_RenderWindow->GetInteractor() == NULL)
{
vtkSmartPointer<vtkRenderWindowInteractor> RenderWindowInteractor =
vtkSmartPointer<vtkRenderWindowInteractor>::New();
RenderWindowInteractor->SetRenderWindow(m_RenderWindow);
RenderWindowInteractor->Initialize();
}
CStatic::PreSubclassWindow();
}
注意这里可以在vtkControl.h头文件中添加如下头文件
#include "vtkVertexGlyphFilter.h"
运行程序，显示如下界面：
窗口内Render可以跟随鼠标动作转动