Qt+VTK封装

以下是一个简单的C++示例，它封装了VTK库以在Qt widget中显示点云。代码注释详细解释了每个步骤和函数的作用。需要注意的是，此示例仅涵盖了基本功能，您可以根据您的需求进行修改和扩展。

#include <vtkSmartPointer.h>
#include <vtkRenderer.h>
#include <vtkRenderWindow.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkInteractorStyleTrackballCamera.h>
#include <vtkPLYReader.h>
#include <vtkPolyDataMapper.h>
#include <vtkActor.h>
#include <vtkProperty.h>
#include <vtkPointPicker.h>
#include <vtkObjectFactory.h>

#include <QVTKOpenGLWidget.h>
#include <QWidget>

class PointCloudViewer : public QVTKOpenGLWidget
{
    Q_OBJECT
public:
    explicit PointCloudViewer(QWidget *parent = nullptr)
        : QVTKOpenGLWidget(parent)
    {
        //创建VTK渲染器和窗口
        renderer_ = vtkSmartPointer<vtkRenderer>::New();
        this->GetRenderWindow()->AddRenderer(renderer_);
        this->GetRenderWindow()->SetSize(800, 600);

        //设置交互器和交互风格
        interactor_style_ = vtkSmartPointer<vtkInteractorStyleTrackballCamera>::New();
        interactor_ = this->GetRenderWindow()->GetInteractor();
        interactor_->SetInteractorStyle(interactor_style_);

        //设置点云选择器
        point_picker_ = vtkSmartPointer<vtkPointPicker>::New();
        point_picker_->PickFromListOn();

        //设置VTK对象
        point_cloud_ = vtkSmartPointer<vtkPolyData>::New();
        point_cloud_mapper_ = vtkSmartPointer<vtkPolyDataMapper>::New();
        point_cloud_actor_ = vtkSmartPointer<vtkActor>::New();

        //将点云映射到渲染器中
        point_cloud_mapper_->SetInputData(point_cloud_);
        point_cloud_actor_->SetMapper(point_cloud_mapper_);
        renderer_->AddActor(point_cloud_actor_);

        //设置点选中事件回调函数
        point_picker_->AddObserver(vtkCommand::EndPickEvent, this, &PointCloudViewer::OnPointPicked);
    }

    //加载点云
    void LoadPointCloud(const std::string& file_name)
    {
        vtkSmartPointer<vtkPLYReader> reader = vtkSmartPointer<vtkPLYReader>::New();
        reader->SetFileName(file_name.c_str());
        reader->Update();
        point_cloud_ = reader->GetOutput();
        point_cloud_mapper_->SetInputData(point_cloud_);
        this->Render();
    }

    //显示点云
    void ShowPointCloud()
    {
        point_cloud_actor_->VisibilityOn();
        this->Render();
    }

    //隐藏点云
    void HidePointCloud()
    {
        point_cloud_actor_->VisibilityOff();
        this->Render();
    }

    //删除点云
    void RemovePointCloud()
    {
        renderer_->RemoveActor(point_cloud_actor_);
        point_cloud_ = nullptr;
        point_cloud_mapper_ = nullptr;
        point_cloud_actor_ = nullptr;
        this->Render();
    }

    //渲染函数
    void Render()
    {
        this->GetRenderWindow()->Render();
    }

signals:

    //选择点的信号
    void PointPicked(double x, double y, double z);

protected:

    //鼠标单击事件处理程序
    virtual void mousePressEvent(QMouseEvent* event) override
    {
        int* click_pos = this->GetInteractor()->GetEventPosition();
        point_picker_->Pick(click_pos[0], click_pos[1], 0, this->renderer_);
    }
    
protected slots:

    //点选中事件处理程序
    void OnPointPicked()
    {
        double pick_pos[3];
        point_picker_->GetPickPosition(pick_pos);
        emit PointPicked(pick_pos[0], pick_pos[1], pick_pos[2]);
    }

private:

    //VTK对象
    vtkSmartPointer<vtkRenderer> renderer_;
    vtkSmartPointer<vtkRenderWindowInteractor> interactor_;
    vtkSmartPointer<vtkInteractorStyleTrackballCamera> interactor_style_;
    vtkSmartPointer<vtkPointPicker> point_picker_;
    vtkSmartPointer<vtkPolyData> point_cloud_;
    vtkSmartPointer<vtkPolyDataMapper> point_cloud_mapper_;
    vtkSmartPointer<vtkActor> point_cloud_actor_;
};

版本2

#include <vtkSmartPointer.h>
#include <vtkRenderer.h>
#include <vtkRenderWindow.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkPolyData.h>
#include <vtkPolyDataMapper.h>
#include <vtkActor.h>
#include <vtkProperty.h>
#include <vtkSmartPointer.h>
#include <vtkPLYReader.h>
#include <vtkPointPicker.h>
#include <vtkVertexGlyphFilter.h>
#include <vtkLookupTable.h>

class PointCloudViewer
{
public:
    explicit PointCloudViewer(QWidget* parent = nullptr)
    {
        // 初始化渲染器和渲染窗口
        renderer_ = vtkSmartPointer<vtkRenderer>::New();
        renderWindow_ = vtkSmartPointer<vtkRenderWindow>::New();
        renderWindow_->AddRenderer(renderer_);
        interactor_ = vtkSmartPointer<vtkRenderWindowInteractor>::New();
        interactor_->SetRenderWindow(renderWindow_);

        // 创建点拾取器
        pointPicker_ = vtkSmartPointer<vtkPointPicker>::New();
        pointPicker_->SetTolerance(0.01);

        // 初始化变量
        pointCloud_ = nullptr;
        pointCloudMapper_ = nullptr;
        pointCloudActor_ = nullptr;
        lut_ = vtkSmartPointer<vtkLookupTable>::New();
        pointCloudColorMode_ = PointCloudColorMode::Default;

        // 设置默认参数
        setPointCloudColorMode(PointCloudColorMode::Default);

        // 添加交互事件
        interactor_->AddObserver(vtkCommand::MouseMoveEvent, this, &PointCloudViewer::OnMouseMove);
        interactor_->AddObserver(vtkCommand::LeftButtonPressEvent, this, &PointCloudViewer::OnLeftButtonDown);
    }

    // 枚举类型，定义点云颜色模式
    enum class PointCloudColorMode
    {
        Default, // 默认颜色
        Random, // 随机颜色
        Scalar // 根据点云数据的标量值进行颜色映射
    };

    // 设置点云颜色模式
    void setPointCloudColorMode(PointCloudColorMode mode)
    {
        pointCloudColorMode_ = mode;

        switch (pointCloudColorMode_)
        {
        case PointCloudColorMode::Default:
            // 设置默认颜色
            lut_->SetNumberOfTableValues(2);
            lut_->SetRange(0, 1);
            lut_->SetTableValue(0, 1, 1, 1, 1);
            lut_->SetTableValue(1, 0, 0, 0, 1);
            break;

        case PointCloudColorMode::Random:
            // 设置随机颜色
            lut_->SetNumberOfTableValues(256);
            lut_->Build();
            lut_->SetTableValue(0, 1, 1, 1, 1);
            for (int i = 1; i < 256; i++)
            {
                double r = static_cast<double>(rand()) / RAND_MAX;
                double g = static_cast<double>(rand()) / RAND_MAX;
                double b = static_cast<double>(rand()) / RAND_MAX;
                lut_->SetTableValue(i, r, g, b, 1);
            }
            break;

        case PointCloudColorMode::

安装检索ID的方式显示隐藏删除点云

    void removePointCloud(int id)
    {
        // 遍历容器，找到需要删除的点云数据结构体，并删除
        for (auto iter = pointClouds_.begin(); iter != pointClouds_.end(); iter++)
        {
            if ((*iter)->id == id)
            {
                renderer_->RemoveActor((*iter)->actor);
                pointClouds_.erase(iter);
                break;
            }
        }
    }

    void hidePointCloud(int id)
    {
        // 遍历容器，找到需要隐藏的点云数据结构体，并将其角色从渲染器中移除
        for (auto iter = pointClouds_.begin(); iter != pointClouds_.end(); iter++)
        {
            if ((*iter)->id == id)
            {
                if ((*iter)->isVisible)
                {
                    (*iter)->isVisible = false;
                    renderer_->RemoveActor((*iter)->actor);
                    renderWindow_->Render();
                }
                break;
            }
        }
    }

    void showPointCloud(int id)
    {
        // 遍历容器，找到需要显示的点云数据结构体，并将其角色添加到渲染器中
        for (auto iter = pointClouds_.begin(); iter != pointClouds_.end(); iter++)
        {
            if ((*iter)->id == id)
            {
                if (!(*iter)->isVisible)
                {
                    (*iter)->isVisible = true;
                    renderer_->AddActor((*iter)->actor);
                    renderWindow_->Render();
                }
                break;
            }
        }
    }