VS2015配合QVTKWidget显示点云数据

1、准备工作

确保电脑上安装了Qt，Vs2015，以及Qt在VS中的插件，我的Qt版本是5.10

安装了PCL，路径中不要有空格，我的安装路径是C:\PCL1.8.1，VTK放在C:\PCL1.8.1\3rdParty\VTK

下载编译好的VTK8.0，https://download.csdn.net/download/hb_programmer/11248928  

将C:\PCL1.8.1\3rdParty\VTK目录删除，用这里下载的vtk替换，然后将QVTKWidgetPlugin.dll放到C:\Qt\Qt5.10.0\5.10.0\msvc2015_64\plugins\designer

2、新建VS_Qt_GUI项目

默认即可，进入项目，打开ui，在左侧最下方可以看到QVTKWidget，将其拖到界面中

3、首先在头文件中添加下面几行

#ifndef INITIAL_OPENGL
#define INITIAL_OPENGL
#include <vtkAutoInit.h>
VTK_MODULE_INIT(vtkRenderingOpenGL)
VTK_MODULE_INIT(vtkInteractionStyle)
#endif

#include <vtkRenderWindow.h>

打开项目属性，按以下方式添加

附加依赖项太长，拷贝下面的即可

pcl_tracking_release.lib
pcl_stereo_release.lib
pcl_people_release.lib
pcl_surface_release.lib
pcl_segmentation_release.lib
pcl_outofcore_release.lib
pcl_keypoints_release.lib
pcl_recognition_release.lib
pcl_visualization_release.lib
pcl_ml_release.lib
pcl_registration_release.lib
pcl_features_release.lib
pcl_io_release.lib
pcl_io_ply_release.lib
pcl_filters_release.lib
pcl_search_release.lib
pcl_sample_consensus_release.lib
pcl_octree_release.lib
pcl_kdtree_release.lib
pcl_common_release.lib
libboost_atomic-vc140-mt-1_64.lib
libboost_atomic-vc140-mt-gd-1_64.lib
libboost_bzip2-vc140-mt-1_64.lib
libboost_bzip2-vc140-mt-gd-1_64.lib
libboost_chrono-vc140-mt-1_64.lib
libboost_chrono-vc140-mt-gd-1_64.lib
libboost_container-vc140-mt-1_64.lib
libboost_container-vc140-mt-gd-1_64.lib
libboost_context-vc140-mt-1_64.lib
libboost_context-vc140-mt-gd-1_64.lib
libboost_coroutine-vc140-mt-1_64.lib
libboost_coroutine-vc140-mt-gd-1_64.lib
libboost_date_time-vc140-mt-1_64.lib
libboost_date_time-vc140-mt-gd-1_64.lib
libboost_exception-vc140-mt-1_64.lib
libboost_exception-vc140-mt-gd-1_64.lib
libboost_fiber-vc140-mt-1_64.lib
libboost_fiber-vc140-mt-gd-1_64.lib
libboost_filesystem-vc140-mt-1_64.lib
libboost_filesystem-vc140-mt-gd-1_64.lib
libboost_graph_parallel-vc140-mt-1_64.lib
libboost_graph_parallel-vc140-mt-gd-1_64.lib
libboost_graph-vc140-mt-1_64.lib
libboost_graph-vc140-mt-gd-1_64.lib
libboost_iostreams-vc140-mt-1_64.lib
libboost_iostreams-vc140-mt-gd-1_64.lib
libboost_locale-vc140-mt-1_64.lib
libboost_locale-vc140-mt-gd-1_64.lib
libboost_log_setup-vc140-mt-1_64.lib
libboost_log_setup-vc140-mt-gd-1_64.lib
libboost_log-vc140-mt-1_64.lib
libboost_log-vc140-mt-gd-1_64.lib
libboost_math_c99f-vc140-mt-1_64.lib
libboost_math_c99f-vc140-mt-gd-1_64.lib
libboost_math_c99l-vc140-mt-1_64.lib
libboost_math_c99l-vc140-mt-gd-1_64.lib
libboost_math_c99-vc140-mt-1_64.lib
libboost_math_c99-vc140-mt-gd-1_64.lib
libboost_math_tr1f-vc140-mt-1_64.lib
libboost_math_tr1f-vc140-mt-gd-1_64.lib
libboost_math_tr1l-vc140-mt-1_64.lib
libboost_math_tr1l-vc140-mt-gd-1_64.lib
libboost_math_tr1-vc140-mt-1_64.lib
libboost_math_tr1-vc140-mt-gd-1_64.lib
libboost_mpi-vc140-mt-1_64.lib
libboost_mpi-vc140-mt-gd-1_64.lib
libboost_numpy3-vc140-mt-1_64.lib
libboost_numpy3-vc140-mt-gd-1_64.lib
libboost_numpy-vc140-mt-1_64.lib
libboost_numpy-vc140-mt-gd-1_64.lib
libboost_prg_exec_monitor-vc140-mt-1_64.lib
libboost_prg_exec_monitor-vc140-mt-gd-1_64.lib
libboost_program_options-vc140-mt-1_64.lib
libboost_program_options-vc140-mt-gd-1_64.lib
libboost_python3-vc140-mt-1_64.lib
libboost_python3-vc140-mt-gd-1_64.lib
libboost_python-vc140-mt-1_64.lib
libboost_python-vc140-mt-gd-1_64.lib
libboost_random-vc140-mt-1_64.lib
libboost_random-vc140-mt-gd-1_64.lib
libboost_regex-vc140-mt-1_64.lib
libboost_regex-vc140-mt-gd-1_64.lib
libboost_serialization-vc140-mt-1_64.lib
libboost_serialization-vc140-mt-gd-1_64.lib
libboost_signals-vc140-mt-1_64.lib
libboost_signals-vc140-mt-gd-1_64.lib
libboost_system-vc140-mt-1_64.lib
libboost_system-vc140-mt-gd-1_64.lib
libboost_test_exec_monitor-vc140-mt-1_64.lib
libboost_test_exec_monitor-vc140-mt-gd-1_64.lib
libboost_thread-vc140-mt-1_64.lib
libboost_thread-vc140-mt-gd-1_64.lib
libboost_timer-vc140-mt-1_64.lib
libboost_timer-vc140-mt-gd-1_64.lib
libboost_type_erasure-vc140-mt-1_64.lib
libboost_type_erasure-vc140-mt-gd-1_64.lib
libboost_unit_test_framework-vc140-mt-1_64.lib
libboost_unit_test_framework-vc140-mt-gd-1_64.lib
libboost_wave-vc140-mt-1_64.lib
libboost_wave-vc140-mt-gd-1_64.lib
libboost_wserialization-vc140-mt-1_64.lib
libboost_wserialization-vc140-mt-gd-1_64.lib
libboost_zlib-vc140-mt-1_64.lib
libboost_zlib-vc140-mt-gd-1_64.lib
flann.lib
flann_cpp.lib
flann_cpp_s.lib
flann_cpp_s-gd.lib
flann_cpp-gd.lib
flann_s.lib
flann_s-gd.lib
flann-gd.lib
qhull.lib
qhull_d.lib
qhull_p.lib
qhull_p_d.lib
qhull_r.lib
qhull_r_d.lib
qhullcpp.lib
qhullcpp_d.lib
qhullstatic.lib
qhullstatic_d.lib
qhullstatic_r.lib
qhullstatic_r_d.lib
vtkalglib-8.0.lib
vtkChartsCore-8.0.lib
vtkCommonColor-8.0.lib
vtkCommonComputationalGeometry-8.0.lib
vtkCommonCore-8.0.lib
vtkCommonDataModel-8.0.lib
vtkCommonExecutionModel-8.0.lib
vtkCommonMath-8.0.lib
vtkCommonMisc-8.0.lib
vtkCommonSystem-8.0.lib
vtkCommonTransforms-8.0.lib
vtkDICOMParser-8.0.lib
vtkDomainsChemistry-8.0.lib
vtkexoIIc-8.0.lib
vtkexpat-8.0.lib
vtkFiltersAMR-8.0.lib
vtkFiltersCore-8.0.lib
vtkFiltersExtraction-8.0.lib
vtkFiltersFlowPaths-8.0.lib
vtkFiltersGeneral-8.0.lib
vtkFiltersGeneric-8.0.lib
vtkFiltersGeometry-8.0.lib
vtkFiltersHybrid-8.0.lib
vtkFiltersHyperTree-8.0.lib
vtkFiltersImaging-8.0.lib
vtkFiltersModeling-8.0.lib
vtkFiltersParallel-8.0.lib
vtkFiltersParallelImaging-8.0.lib
vtkFiltersPoints-8.0.lib
vtkFiltersProgrammable-8.0.lib
vtkFiltersSelection-8.0.lib
vtkFiltersSMP-8.0.lib
vtkFiltersSources-8.0.lib
vtkFiltersStatistics-8.0.lib
vtkFiltersTexture-8.0.lib
vtkFiltersTopology-8.0.lib
vtkFiltersVerdict-8.0.lib
vtkfreetype-8.0.lib
vtkGeovisCore-8.0.lib
vtkgl2ps-8.0.lib
vtkGUISupportQt-8.0.lib
vtkGUISupportQtOpenGL-8.0.lib
vtkGUISupportQtSQL-8.0.lib
vtkhdf5_hl-8.0.lib
vtkhdf5-8.0.lib
vtkImagingColor-8.0.lib
vtkImagingCore-8.0.lib
vtkImagingFourier-8.0.lib
vtkImagingGeneral-8.0.lib
vtkImagingHybrid-8.0.lib
vtkImagingMath-8.0.lib
vtkImagingMorphological-8.0.lib
vtkImagingSources-8.0.lib
vtkImagingStatistics-8.0.lib
vtkImagingStencil-8.0.lib
vtkInfovisCore-8.0.lib
vtkInfovisLayout-8.0.lib
vtkInteractionImage-8.0.lib
vtkInteractionStyle-8.0.lib
vtkInteractionWidgets-8.0.lib
vtkIOAMR-8.0.lib
vtkIOCore-8.0.lib
vtkIOEnSight-8.0.lib
vtkIOExodus-8.0.lib
vtkIOExport-8.0.lib
vtkIOExportOpenGL-8.0.lib
vtkIOGeometry-8.0.lib
vtkIOImage-8.0.lib
vtkIOImport-8.0.lib
vtkIOInfovis-8.0.lib
vtkIOLegacy-8.0.lib
vtkIOLSDyna-8.0.lib
vtkIOMINC-8.0.lib
vtkIOMovie-8.0.lib
vtkIONetCDF-8.0.lib
vtkIOParallel-8.0.lib
vtkIOParallelXML-8.0.lib
vtkIOPLY-8.0.lib
vtkIOSQL-8.0.lib
vtkIOTecplotTable-8.0.lib
vtkIOVideo-8.0.lib
vtkIOXML-8.0.lib
vtkIOXMLParser-8.0.lib
vtkjpeg-8.0.lib
vtkjsoncpp-8.0.lib
vtklibharu-8.0.lib
vtklibxml2-8.0.lib
vtklz4-8.0.lib
vtkmetaio-8.0.lib
vtknetcdf_c++.lib
vtkNetCDF-8.0.lib
vtkoggtheora-8.0.lib
vtkParallelCore-8.0.lib
vtkpng-8.0.lib
vtkproj4-8.0.lib
vtkRenderingAnnotation-8.0.lib
vtkRenderingContext2D-8.0.lib
vtkRenderingContextOpenGL-8.0.lib
vtkRenderingCore-8.0.lib
vtkRenderingFreeType-8.0.lib
vtkRenderingGL2PS-8.0.lib
vtkRenderingImage-8.0.lib
vtkRenderingLabel-8.0.lib
vtkRenderingLIC-8.0.lib
vtkRenderingLOD-8.0.lib
vtkRenderingOpenGL-8.0.lib
vtkRenderingQt-8.0.lib
vtkRenderingVolume-8.0.lib
vtkRenderingVolumeOpenGL-8.0.lib
vtksqlite-8.0.lib
vtksys-8.0.lib
vtktiff-8.0.lib
vtkverdict-8.0.lib
vtkViewsContext2D-8.0.lib
vtkViewsCore-8.0.lib
vtkViewsInfovis-8.0.lib
vtkViewsQt-8.0.lib
vtkzlib-8.0.lib

调试为release  x64

实例：

头文件：

#pragma once

#include <QtWidgets/QMainWindow>
#include "ui_Qt_PCL_Test.h"

#ifndef INITIAL_OPENGL
#define INITIAL_OPENGL
#include <vtkAutoInit.h>
VTK_MODULE_INIT(vtkRenderingOpenGL)
VTK_MODULE_INIT(vtkInteractionStyle)
#endif

#include <QFileDialog>

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


class Qt_PCL_Test : public QMainWindow
{
	Q_OBJECT

public:
	Qt_PCL_Test(QWidget *parent = Q_NULLPTR);

private:
	Ui::Qt_PCL_TestClass ui;

	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
	void initialVtkWidget();

private slots:
	void onOpen();



};

cpp文件：

#include "Qt_PCL_Test.h"


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

	initialVtkWidget();
	connect(ui.actionOpen, SIGNAL(triggered()), this, SLOT(onOpen()));
}

void Qt_PCL_Test::initialVtkWidget()
{
	cloud.reset(new pcl::PointCloud<pcl::PointXYZ>);
	viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));
	viewer->addPointCloud(cloud, "cloud");
	ui.qvtkWidget->SetRenderWindow(viewer->getRenderWindow());
	viewer->setupInteractor(ui.qvtkWidget->GetInteractor(), ui.qvtkWidget->GetRenderWindow());
	ui.qvtkWidget->update();
}

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

		//sensor_msgs::PointCloud2 cloud2;

		pcl::PCLPointCloud2 cloud2;

		//pcl::PointCloud<Eigen::MatrixXf> cloud2;

		Eigen::Vector4f origin;
		Eigen::Quaternionf orientation;
		int pcd_version;
		int data_type;
		unsigned int data_idx;
		int offset = 0;
		pcl::PCDReader rd;
		rd.readHeader(file_name, cloud2, origin, orientation, pcd_version, data_type, data_idx);
		if (data_type == 0)

		{
			pcl::io::loadPCDFile(fileName.toStdString(), *cloud);
		}

		else if (data_type == 2)
		{
			pcl::PCDReader reader;
			reader.read<pcl::PointXYZ>(fileName.toStdString(), *cloud);
		}
		viewer->updatePointCloud(cloud, "cloud");
		viewer->resetCamera();
		ui.qvtkWidget->update();
	}
}

最终效果：