Ubuntu下Qt使用PCL可视化点云

最新推荐文章于 2024-05-31 08:30:32 发布

lucky-billy

最新推荐文章于 2024-05-31 08:30:32 发布

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分类专栏： Qt 文章标签： Qt PCL VTK 点云库可视化

本文链接：https://blog.csdn.net/qq_34139994/article/details/93482835

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作者：billy
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前言

最近做了一些激光雷达的数据采集和显示的功能，中间用到了一些技术在这里分享一下
开发环境为 Ubuntu 16.04 + Qt 5.11.0 + PCL 1.9
废话不多说开始进入正题，首先是最重要的环境搭建！！！

1. PCL依赖项

sudo apt-get update

#cmake
sudo apt-get install cmake cmake-gui 
 
#vtk
sudo apt-get install libvtk5.10-qt4 libvtk5.10 libvtk5-dev 

#boost
sudo apt-get install libboost-all-dev     

#eigen
sudo apt-get install libeigen3-dev
 
#flann
sudo apt-get install libflann1.8 libflann-dev
 
#openni
sudo apt-get install libopenni-dev libopenni2-dev

#一些其他的库
sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common  
sudo apt-get install git build-essential linux-libc-dev
sudo apt-get install libqt4-dev libvtk5-qt4-dev
sudo apt-get install tcl-vtk python-vtk libvtk-java 
sudo apt-get install libqhull* libgtest-dev
sudo apt-get install freeglut3-dev pkg-config
sudo apt-get install libxmu-dev libxi-dev 
sudo apt-get install mono-complete
sudo apt-get install qt-sdk openjdk-8-jdk openjdk-8-jre
sudo apt-get install libpcap-dev libpng-dev

2. 下载PCL并编译安装

从 github 上下载PCL最新Source
链接: https://github.com/PointCloudLibrary/pcl.git
下载解压之后，进行如下操作：
cd pcl-master
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release …
make -j4 （编译要花费一段时间）
sudo make install

3. 下载Qt并安装

去Qt官网下载，本人使用的是Qt5.11.0，当时最新版本为Qt5.12.0
链接：http://download.qt.io/archive/qt/

4. 修改Boost的头文件

由于Qt4界面生成器的Bug，会误报BOOST_JOIN错误
报错信息为 /usr/include/boost/type_traits/detail/has_binary_operator.hp:50: Parse error at “BOOST_JOIN”
解决方法：
找到 /usr/include/boost/type_traits/detail/has_postfix_operator.hpp
在该文件的最前面加上 #ifndef Q_MOC_RUN
在该文件的最后面加上 #endif //Q_MOC_RUN
Qt编译时会定义Q_MOC_RUN,，此修改可回避编译错误

5. Qt中使用cmake编译PCL

cmake_minimum_required(VERSION 2.8.11 FATAL_ERROR)

SET(CMAKE_BUILD_TYPE "Release" CACHE STRING "Choose the type of build, options are: Debug Release RelWithDebInfo MinSizeRel." FORCE)
project(ModifyMap)

#Qt4 things
find_package(Qt4 REQUIRED)
include(${QT_USE_FILE})
add_definitions(${QT_DEFINITIONS})
include_directories(${CMAKE_BINARY_DIR})

#dependency
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules/")
find_package(VTK REQUIRED)
find_package(PCL 1.9 REQUIRED)
find_package(Pcap REQUIRED)
find_package(Boost REQUIRED)
find_package(OpenCV REQUIRED)
find_package(CGAL REQUIRED)

include(${CGAL_USE_FILE})

include_directories(${PCL_INCLUDE_DIRS}
                    ${PCAP_INCLUDE_DIRS}
                    ${OpenCV_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS}
                    ${PCAP_LIBRARY_DIRS}
                    ${OpenCV_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

set  (main_ui_SOURCE    main.cpp
                        UI/modifywnd.cpp
                        UI/GeometryUtils.cpp
                        UI/mainwnd.cpp
                        UI/settingdlg.cpp
                        UI/icpdlg.cpp
                        UI/dialog.cpp
                        Interface/log.cpp
                        Process/icpprocess.cpp
                        Process/globalfun.cpp
                        Data/cloudslicer.cpp
                        Data/lidarmapconfig.cpp
                        Data/lidarmaptoolconfig.cpp)
set  (project_SOURCES   ${main_ui_SOURCE})
set  (project_HEADERS   UI/modifywnd.h
                        UI/GeometryUtils.h
                        UI/mainwnd.h
                        UI/settingdlg.h
                        UI/icpdlg.h
                        UI/dialog.h
                        Interface/log.h
                        Process/icpprocess.h
                        Process/globalfun.h
                        Data/lidarmapconfig.h
                        Data/lidarmaptoolconfig.h
                        Data/gpsfile.h)
set  (project_FORMS     UI/modifywnd.ui
                        UI/mainwnd.ui
                        UI/settingdlg.ui
                        UI/icpdlg.ui
                        UI/dialog.ui)

set  (project_RESOURCES rc.qrc )
set  (VTK_LIBRARIES   vtkRendering vtkGraphics vtkHybrid QVTK)
set  (CAN_LIBRARIES   canlib)
set  (GPS_LIBRARIES   gps)

#add Qt4 meta-system
QT4_WRAP_CPP      (project_HEADERS_MOC   ${project_HEADERS})
QT4_WRAP_UI       (project_FORMS_HEADERS ${project_FORMS})
QT4_ADD_RESOURCES (project_RES_MOC       ${project_RESOURCES})

INCLUDE         (${QT_USE_FILE})
ADD_DEFINITIONS (${QT_DEFINITIONS})

ADD_EXECUTABLE(ModifyMap ${project_SOURCES}
                         ${project_FORMS_HEADERS}
                         ${project_HEADERS_MOC}
                         ${project_RES_MOC})

TARGET_LINK_LIBRARIES(ModifyMap
                      ${QT_LIBRARIES}
                      ${PCL_LIBRARIES}
                      ${VTK_LIBRARIES}
                      ${PCAP_LIBRARIES}
                      ${CAN_LIBRARIES}
                      ${Boost_LIBRARIES}
                      ${GPS_LIBRARIES}
                      ${OpenCV_LIBRARIES}
                      ${CGAL_LIBRARIES})

在这里插入图片描述在构建步骤中删除原来的qmake，使用自定义进程步骤添加cmake编译项目