qt5.9+vtk7.1.1+pcl1.8.1（使用qvtkWidget控件显示）

1.new file or project
2.Qt Console A…
3.add qvtkWidget

.pro

SOURCES += \
        main.cpp \
        mainwindow.cpp

HEADERS += \
        mainwindow.h

FORMS += \
        mainwindow.ui

INCLUDEPATH += /usr/include/eigen3

INCLUDEPATH += /usr/local/include/vtk-7.1
LIBS += /usr/local/lib/libvtk*.so

INCLUDEPATH += /usr/include/boost
LIBS += /usr/lib/x86_64-linux-gnu/libboost_*.so

INCLUDEPATH += /usr/include/pcl-1.8
LIBS += /usr/lib/libpcl_*.so

.h

#ifndef MAINWINDOW_H
#define MAINWINDOW_H

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

namespace Ui {
class MainWindow;
}

class MainWindow : public QMainWindow
{
    Q_OBJECT

public:
    explicit MainWindow(QWidget *parent = 0);
    ~MainWindow();

private:
    Ui::MainWindow *ui;
    //点云数据存储
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
    //初始化vtk部件
    void initialVtkWidget();
};

#endif // MAINWINDOW_H

.c

#include "mainwindow.h"
#include "ui_mainwindow.h"
#include <pcl/visualization/pcl_visualizer.h>
#include "QVTKWidget.h"
#include "vtkRenderWindow.h"
#include <vtkAutoInit.h>
MainWindow::MainWindow(QWidget *parent) :
    QMainWindow(parent),
    ui(new Ui::MainWindow)
{
    ui->setupUi(this);
    VTK_MODULE_INIT(vtkRenderingOpenGL2);
    VTK_MODULE_INIT(vtkInteractionStyle);
    initialVtkWidget();
}

MainWindow::~MainWindow()
{
    delete ui;
}
void MainWindow::initialVtkWidget()
{
    cloud.reset (new pcl::PointCloud<pcl::PointXYZ>);
    viewer.reset (new pcl::visualization::PCLVisualizer ("viewer", false));

    //正方体点云
    for(int i=0; i<20; i++)
    {
        for(int j=0; j<20; j++)
        {
            for(int k = 0; k<20; k++)
            {
                cloud->push_back(pcl::PointXYZ((i-10)/1.0f, (j-10)/1.0f, (k-10)/1.0f));
            }
        }
    }
    viewer->addPointCloud (cloud, "cloud");
    ui->qvtkWidget->SetRenderWindow(viewer->getRenderWindow ());
    viewer->setupInteractor (ui->qvtkWidget->GetInteractor (), ui->qvtkWidget->GetRenderWindow ());
    ui->qvtkWidget->update ();
}

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