MFC的环境配置和控制台下的配置相同,下面说明如何在MFC界面上添加控件显示用pcl读入的三维点云数据。
新建一个基于对话框的MFC窗体应用程序,添加一个按钮和一个Picture Control, IDC修改为IDC_VTK1
工程目录如下:
打开MFCApplication2.h头文件,在#include "resource.h"下添加如下pcl的头文件
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/filter.h>
#include <pcl/features/normal_3d.h>
#include <boost/thread/thread.hpp> //多线程
#include <pcl/compression/octree_pointcloud_compression.h>
#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/features/range_image_border_extractor.h>
#include <pcl/keypoints/narf_keypoint.h>
#include <pcl/console/parse.h>
#include <pcl/point_types.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/filters/project_inliers.h>
#include <pcl/range_image/range_image.h>
#include <pcl/visualization/range_image_visualizer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/registration/icp.h> //ICP(iterative closest point)配准
#include <pcl/registration/icp_nl.h>
#include <pcl/registration/transforms.h>
#include <pcl/pcl_macros.h>
编译后会报错,主要信息如下:
错误 C2589 “(”:“::”右边的非法标记 MFCApplication2 C:\Program Files\PCL 1.11.0\include\pcl-1.11\pcl\visualization\image_viewer.h 358
在#include "resource.h"添加如下代码
#pragma push_macro("min")
#pragma push_macro("max")
#undef min
#undef max
编译成功。
在MFCApplication2Dlg.h头文件中添加如下3个成员变量
vtkSmartPointer<vtkRenderWindow> m_win;
vtkSmartPointer<vtkRenderWindowInteractor> m_iren;
boost::shared_ptr<pcl::visualization::PCLVisualizer> m_viewer;
在MFCApplication2Dlg.cpp引用下如下命名空间
using namespace pcl;
using namespace pcl::io;
using namespace std;
using pcl::visualization::PointCloudColorHandlerGenericField;
using pcl::visualization::PointCloudColorHandlerCustom;
在OnInitDialog()函数里添加如下代码:
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("3D Viewer", false));
m_viewer = viewer;
CRect rect;
m_iren = vtkRenderWindowInteractor::New();//重新申请地址
m_win = m_viewer->getRenderWindow();//获取viewer的句柄
GetDlgItem(IDC_VTK1)->GetClientRect(&rect);//获取图像控件的实际大小
m_win->SetSize(rect.right - rect.left, rect.bottom - rect.top);//将viewer大小设置为图像控件大小
m_win->SetParentId(GetDlgItem(IDC_VTK1)->m_hWnd);//将vtk窗口结合到MFC窗口中
m_viewer->resetCamera();
m_iren->SetRenderWindow(m_win);
m_viewer->createInteractor();//由于初始化设置为false,该处重新创建PCL风格的Interactor
m_win->Render();
在按钮回调函数里添加如下语句:
// TODO: 在此添加控件通知处理程序代码
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;
m_viewer->addPointCloud(cloud);
rabbit.pcd文件在链接
链接:https://pan.baidu.com/s/15NWqp60oju7irBR85Kl_Bg
提取码:0p5t
编译报错:
C2661 “pcl::PointCloud<pcl::PointXYZ>::operator new”: 没有重载函数接受 3 个参数 MFCApplication2 D:\mycode\0-PCL_VTK\test_config\MFCApplication2\MFCApplication2Dlg.cpp 195
需要把该文件中三句话注释掉,如下:
注释完毕后运行:
可以在界面上查看点云。
但此时vtkoutputwindow报错误
Generic Warning: In C:\Build\3rdParty\x64\VTK-8.0.0\Rendering\Core\vtkPolyDataMapper.cxx, line 28
Error: no override found for 'vtkPolyDataMapper'.
Warning: In C:\Build\3rdParty\x64\VTK-8.0.0\Rendering\Core\vtkInteractorStyleSwitchBase.cxx, line 43
vtkInteractorStyleSwitchBase (00000267B779EE80): Warning: Link to vtkInteractionStyle for default style selection.
只需要添加如下三句话即可
#include "vtkAutoInit.h"
VTK_MODULE_INIT(vtkRenderingOpenGL);
VTK_MODULE_INIT(vtkRenderingFreeType);
VTK_MODULE_INIT(vtkInteractionStyle);
插曲:
这个搞定后,我又马不停蹄的去做在QT界面上显示的工作,中间碰到了如下问题,记录下过程:
pcl自带的vtk库并没有编译QVTKWidgetPlugin.dll插件
C:\Program Files\PCL 1.8.1\3rdParty\VTK
可知此对应的VTK版本是8.0, 所以这里重新cmake下vtk8.0
编译过程见我的另一个博客编译好后的替换到pcl自带的vtk目录后
即把链接博客中获得的C:\\VTK代替C:\Program Files\PCL 1.8.1\3rdParty\VTK
再次运行前面所创建的MFC程序,出现报错
错误 LNK1104 无法打开文件“vtkIOExportOpenGL-8.0-gd.lib” MFCApplication2 D:\mycode\0-PCL_VTK\test_config\MFCApplication2\LINK 1
查看后编译好的vtk目录,只搜到了
vtkIOExportOpenGL2-8.0-gd.lib
所以需要修改工程中的带OpenGL关键字的lib库,全部替换为OpenGL2
附加依赖项中涉及vtk部分的lib名字改为如下:
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
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
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
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
vtkRenderingVolume-8.0-gd.lib
vtkRenderingVolumeOpenGL2-8.0-gd.lib
vtksqlite-8.0-gd.lib
vtksys-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
vtkzlib-8.0-gd.lib
添加完毕后,运行报错
严重性 代码 说明 项目 文件 行 禁止显示状态
错误 LNK2001 无法解析的外部符号 "void __cdecl vtkRenderingOpenGL_AutoInit_Construct(void)" (?vtkRenderingOpenGL_AutoInit_Construct@@YAXXZ) MFCApplication2 D:\mycode\0-PCL_VTK\test_config\MFCApplication2\MFCApplication2Dlg.obj 1
由于编译时用的是Opengl2,
所以VTK_MODULE_INIT(vtkRenderingOpenGL)替换为VTK_MODULE_INIT(vtkRenderingOpenGL2)
再次运行,可以正常显示点云