《PCL点云库学习&VS2010(X64)》Part 4 MFC+VTK+VS2010 测试VTK的MFC对话框程序

Part 4 MFC+VTK+VS2010 测试VTK的MFC对话框程序                                                                                     

1、新建空的对话框程序PointCloudViewer，添加一个按钮Openpcd，和一个picture control ，ID:IDC_PCDVIEWER。

头文件PointCloudViewer.h

<span style="font-size:14px;">// PointCloudViewerDlg.h : 头文件
//
#include "pcl\point_cloud.h"  
#include "pcl\point_types.h"  
#include "pclvisualization_mfc\include\pcl_mfc_visualizer.h" 
//#include "pclvisualization_mfc\include\pcl_mfc_visualizer.hpp" 
#include "vtkRenderer.h"  
#include <pcl/io/pcd_io.h>  


#pragma once


// CPointCloudViewerDlg 对话框
class CPointCloudViewerDlg : public CDialogEx
{
// 构造
public:
	CPointCloudViewerDlg(CWnd* pParent = NULL);	// 标准构造函数

// 对话框数据
	enum { IDD = IDD_POINTCLOUDVIEWER_DIALOG };

	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()

private:  
	//视图窗口  
	pcl::mfc_visualization::PCLVisualizer *viewer;  
	//vtkRenderer *pvtkRenderer;  
	POINT  ptBorder;  
	//数据点  
	sensor_msgs::PointCloud2::Ptr binary_blob;  
	//数据点句柄  
	pcl::mfc_visualization::PointCloudGeometryHandlerXYZ<sensor_msgs::PointCloud2>::Ptr xyz_Handler;  
	pcl::mfc_visualization::PointCloudColorHandlerRGBField<sensor_msgs::PointCloud2>::Ptr color_Handler;  
	//传感器位置方向矩阵  
	Eigen::Vector4f sensor_origin;  
	Eigen::Quaternion<float> sensor_orientation;
public:
	afx_msg void OnSize(UINT nType, int cx, int cy);
	afx_msg void OnBnClickedOpenpcd();
};</span><span style="font-size:18px;">
</span>

2、PointCloudViewer.cpp

<span style="font-size:14px;">// PointCloudViewerDlg.cpp : 实现文件
//

#include "stdafx.h"
#include "PointCloudViewer.h"
#include "PointCloudViewerDlg.h"
#include "afxdialogex.h"

#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
	enum { IDD = IDD_ABOUTBOX };

	protected:
	virtual void DoDataExchange(CDataExchange* pDX);    // DDX/DDV 支持

// 实现
protected:
	DECLARE_MESSAGE_MAP()
};

CAboutDlg::CAboutDlg() : CDialogEx(CAboutDlg::IDD)
{
}

void CAboutDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialogEx::DoDataExchange(pDX);
}

BEGIN_MESSAGE_MAP(CAboutDlg, CDialogEx)
END_MESSAGE_MAP()


// CPointCloudViewerDlg 对话框




CPointCloudViewerDlg::CPointCloudViewerDlg(CWnd* pParent /*=NULL*/)
	: CDialogEx(CPointCloudViewerDlg::IDD, pParent)
{
	m_hIcon = AfxGetApp()->LoadIcon(IDR_MAINFRAME);
	 
	//begin tyz  
	//初始化  
	this->viewer = NULL;  
	sensor_origin = Eigen::Vector4f::Zero();  
	sensor_orientation = Eigen::Quaternionf::Identity (); 
	
}

void CPointCloudViewerDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialogEx::DoDataExchange(pDX);
}

BEGIN_MESSAGE_MAP(CPointCloudViewerDlg, CDialogEx)
	ON_WM_SYSCOMMAND()
	ON_WM_PAINT()
	ON_WM_QUERYDRAGICON()
	ON_WM_SIZE()
	ON_BN_CLICKED(IDC_OPENPCD, &CPointCloudViewerDlg::OnBnClickedOpenpcd)
END_MESSAGE_MAP()


// CPointCloudViewerDlg 消息处理程序

BOOL CPointCloudViewerDlg::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 != NULL)
	{
		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
		
		//利用PictControl控件加载PCD窗口  
		CWnd *viewer_pcWnd;  
		viewer_pcWnd = this->GetDlgItem(IDC_PCDVIEWER);  
		this->viewer = new pcl::mfc_visualization::PCLVisualizer(viewer_pcWnd);  
		CRect cRectPCL;  
		this->viewer->GetClientRect(&cRectPCL);  
		CRect cRectClient;  
		GetClientRect(&cRectClient);  
		this->ptBorder.x = cRectClient.Width()  - cRectPCL.Width();  
		this->ptBorder.y = cRectClient.Height() - cRectPCL.Height();  
		
		return TRUE;  // 除非将焦点设置到控件，否则返回 TRUE
		
	}

	// 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

	ShowWindow(SW_MAXIMIZE);

	// 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 CPointCloudViewerDlg::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 CPointCloudViewerDlg::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 CPointCloudViewerDlg::OnQueryDragIcon()
{
	return static_cast<HCURSOR>(m_hIcon);
}



void CPointCloudViewerDlg::OnSize(UINT nType, int cx, int cy)
{
	CDialogEx::OnSize(nType, cx, cy);

	// TODO: 在此处添加消息处理程序代码

	if (::IsWindow(this->GetSafeHwnd())) 
	{  
		if (this->viewer)
		{  
			cx -= ptBorder.x;  
			cy -= ptBorder.y;  
			this->GetDlgItem(IDC_PCLVIWER)->SetWindowPos(NULL, 0, 0, cx, cy, SWP_NOACTIVATE | SWP_NOZORDER | SWP_NOMOVE);  
			this->viewer->SetWindowPos(NULL, 0, 0, cx, cy, SWP_NOACTIVATE | SWP_NOZORDER | SWP_NOMOVE);  
		}  
	}
}



void CPointCloudViewerDlg::OnBnClickedOpenpcd()
{
	// TODO: 在此添加控件通知处理程序代码
	this->viewer->removeAllPointClouds ();  
        // TODO: Add your control notification handler code here  
        static TCHAR BASED_CODE szFilter[] = _T("PCD (*.pcd )|*.pcd||");  
        CFileDialog cFileDialog(true, NULL, NULL, OFN_HIDEREADONLY | OFN_OVERWRITEPROMPT| OFN_NOCHANGEDIR ,szFilter);  
        if (cFileDialog.DoModal() == IDOK)  
        {  
                /
                //文档名称  
                std::string filename;  
                filename = cFileDialog.GetFileName();  
                //reset data  
                this->binary_blob.reset();  
                binary_blob = sensor_msgs::PointCloud2::Ptr (new sensor_msgs::PointCloud2);  
                // read new data  
                //*.pcd文件  
                pcl::PCDReader pcd_reader;          
                if (pcd_reader.read ((char*)_bstr_t(filename.c_str()), *binary_blob) != 0) //* load the file  
                {  
                        MessageBox (_T("Couldn't read PCData file!"));  
                        return;  
                }          
        }  
        if (binary_blob == NULL)  
        {  
                MessageBox("Please load PCD file firstly!");  
                return;  
        }  
        else  
        {  
                //其他句柄  
                if (pcl::getFieldIndex(*binary_blob, "rgb") > 0)  
                {  
                        color_Handler = pcl::mfc_visualization::PointCloudColorHandlerRGBField<sensor_msgs::PointCloud2>::Ptr  
                                (new pcl::mfc_visualization::PointCloudColorHandlerRGBField<sensor_msgs::PointCloud2> (binary_blob));  
                        this->viewer->addPointCloud(binary_blob, color_Handler, sensor_origin, sensor_orientation);  
                }  
                else  
                {  
                        xyz_Handler = pcl::mfc_visualization::PointCloudGeometryHandlerXYZ<sensor_msgs::PointCloud2>::Ptr  
                                (new pcl::mfc_visualization::PointCloudGeometryHandlerXYZ<sensor_msgs::PointCloud2> (binary_blob));  
                        this->viewer->addPointCloud(binary_blob, xyz_Handler, sensor_origin, sensor_orientation);  
                }          
                this->viewer->resetCamera();  
        }  
}
</span>

3、配置文件

1）添加头文件：项目右击—>属性—>C/C++—>附加包含目录：

D:\Program Files\PCL 1.6.0\3rdParty\Boost\include;

D:\Program Files\PCL 1.6.0\3rdParty\Eigen\include;

D:\Program Files\PCL 1.6.0\3rdParty\FLANN\include;

D:\Program Files\PCL 1.6.0\3rdParty\Qhull\include;

D:\Program Files\PCL 1.6.0\3rdParty\VTK\include\vtk-5.8;

D:\Program Files\OpenNI\Include;

D:\Program Files\PCL 1.6.0\include\pcl-1.6;

D:\C++Workspace\VCLESSON\PCL\PointCloudViewer\PointCloudViewer\pclvisualization_mfc\include

2）添加bin中的文件：项目右击—>属性—>链接器—>常规—>附加库目录：

D:\Program Files\PCL 1.6.0\3rdParty\Boost\lib;

D:\Program Files\PCL 1.6.0\3rdParty\Qhull\lib;

D:\Program Files\PCL 1.6.0\3rdParty\FLANN\lib;

D:\Program Files\PCL 1.6.0\3rdParty\VTK\lib\vtk-5.8;

D:\Program Files\PCL 1.6.0\lib;D:\Program Files\OpenNI\Lib64;

D:\VTK\VTKbin\bin\Debug

3）添加lib文件：项目右击—>属性—>链接器—>输入—>附加依赖项 添加：

opengl32.lib;

pcl_kdtree_debug.lib;

pcl_io_debug.lib;

pcl_search_debug.lib;

pcl_segmentation_debug.lib;

pcl_apps_debug.lib;

pcl_features_debug.lib;

pcl_filters_debug.lib;

pcl_visualization_debug.lib;

pcl_common_debug.lib;

flann_cpp_s-gd.lib;

libboost_system-vc100-mt-gd-1_47.lib;

libboost_filesystem-vc100-mt-gd-1_47.lib;

libboost_thread-vc100-mt-gd-1_47.lib;

libboost_date_time-vc100-mt-gd-1_47.lib;

libboost_iostreams-vc100-mt-gd-1_47.lib;

vtkalglib-gd.lib;

vtkCharts-gd.lib;

vtkCommon-gd.lib;

vtkDICOMParser-gd.lib;

vtkexoIIc-gd.lib;

vtkexpat-gd.lib;

vtkFiltering-gd.lib;

vtkfreetype-gd.lib;

vtkftgl-gd.lib;

vtkGenericFiltering-gd.lib;

vtkGeovis-gd.lib;

vtkGraphics-gd.lib;

vtkhdf5-gd.lib;

vtkHybrid-gd.lib;

vtkImaging-gd.lib;

vtkInfovis-gd.lib;

vtkIO-gd.lib;

vtkjpeg-gd.lib;

vtklibxml2-gd.lib;

vtkmetaio-gd.lib;

vtkNetCDF-gd.lib;

vtkNetCDF_cxx-gd.lib;

vtkpng-gd.lib;

vtkproj4-gd.lib;

vtkRendering-gd.lib;

vtksqlite-gd.lib;

vtksys-gd.lib;

vtktiff-gd.lib;

vtkverdict-gd.lib;

vtkViews-gd.lib;

vtkVolumeRendering-gd.lib;

vtkWidgets-gd.lib;

vtkzlib-gd.lib;%(AdditionalDependencies)