qt pcl1.8

发现在win10下pcl1.8在qt中是可以显示，但是pcl1.8却有两个构造函数，因此不能使用QVTKOpenGLWidget了

.h

#ifndef PCLVTKWIDGET_H
#define PCLVTKWIDGET_H

#include <QVTKWidget.h>
#include <vtkSmartPointer.h>
#include <vtkRenderer.h>
#include <vtkRenderWindow.h>

#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>



class PCLVTKWidget : public QVTKWidget
{
public:
    PCLVTKWidget(QWidget* parent = nullptr);
    ~PCLVTKWidget();


private:
    void init_widget();


private:
    boost::shared_ptr<pcl::visualization::PCLVisualizer> d_pcl_view;
    boost::shared_ptr<pcl::visualization::CloudViewer> d_pcl_cloud_view;

    vtkSmartPointer<vtkRenderer> d_ren;
    vtkSmartPointer<vtkRenderWindow> d_ren_win;

};

#endif // PCLVTKWIDGET_H

.cpp

#include "PCLVTKWidget.h"


#include <pcl/common/common_headers.h>
#include <pcl/io/pcd_io.h>
#include <pcl/console/parse.h>


#include <QDebug>



PCLVTKWidget::PCLVTKWidget(QWidget* parent)
    : QVTKWidget(parent)
{
    init_widget();
}



PCLVTKWidget::~PCLVTKWidget()
{

}



void
PCLVTKWidget::init_widget()
{
    //--------------------------------------------------------
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
    uint8_t r(255), g(15), b(15);
    for (float z(-1.0); z <= 1.0; z += 0.05)
    {
        for (float angle(0.0); angle <= 360.0; angle += 5.0)
        {
            pcl::PointXYZRGB point;
            point.x = 0.5 * cosf (pcl::deg2rad(angle));
            point.y = sinf (pcl::deg2rad(angle));
            point.z = z;
            uint32_t rgb = (static_cast<uint32_t>(r) << 16 |
                static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
            point.rgb = *reinterpret_cast<float*>(&rgb);
            point_cloud_ptr->points.push_back (point);
        }
        if (z < 0.0)
        {
            r -= 12;
            g += 12;
        }
        else
        {
            g -= 12;
            b += 12;
        }
    }
    point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();
    point_cloud_ptr->height = 1;

    //--------------------------------------------------------
    d_pcl_view.reset( new pcl::visualization::PCLVisualizer("pcl_view", false) );
    d_pcl_view->setBackgroundColor(0, 0, 0);
    SetRenderWindow(d_pcl_view->getRenderWindow());

    d_ren = d_pcl_view->getRendererCollection()->GetFirstRenderer();
    d_ren->SetBackground2(0.56, 0.65, 0.9);//light blue
    d_ren->SetBackground(0.96, 0.96, 0.96);//#f5f5f5
    d_ren->SetGradientBackground(true);

    d_pcl_view->addPointCloud(point_cloud_ptr);
}