Qt调用PCL在窗体中显示点云

首先新建项目，ui中放置一个QOpenGLWidget，提升为QVTKOpenGLNativeWidget，在放置一个QPushbutton，如下图

之后将如下代码复制到项目文件中，注意修改cpp文件中的pcd地址

mainwindow.h

#ifndef MAINWINDOW_H
#define MAINWINDOW_H

#include <QMainWindow>
#include <vtkRenderWindow.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <vtkAutoInit.h>
#include <vtkRenderWindow.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <vtkGenericOpenGLRenderWindow.h>

VTK_MODULE_INIT(vtkRenderingOpenGL2);
VTK_MODULE_INIT(vtkInteractionStyle);
VTK_MODULE_INIT(vtkRenderingVolumeOpenGL2);
VTK_MODULE_INIT(vtkRenderingFreeType);

QT_BEGIN_NAMESPACE
namespace Ui { class MainWindow; }
QT_END_NAMESPACE

class MainWindow : public QMainWindow
{
    Q_OBJECT

public:
    MainWindow(QWidget *parent = nullptr);
    ~MainWindow();

protected slots:
    void pushButtonClicked();


private:
    Ui::MainWindow *ui;
        boost::shared_ptr< pcl::visualization::PCLVisualizer > view;
};
#endif // MAINWINDOW_H

mainwindow.cpp

#include "mainwindow.h"
#include "ui_mainwindow.h"
#include <pcl/point_cloud.h>
#include <pcl/io/pcd_io.h>
#include <vtkGenericOpenGLRenderWindow.h>
#include <QDebug>

MainWindow::MainWindow(QWidget *parent)
    : QMainWindow(parent)
    , ui(new Ui::MainWindow)
{
    ui->setupUi(this);
    vtkSmartPointer<vtkRenderer> renderer = vtkSmartPointer<vtkRenderer>::New();
    vtkSmartPointer<vtkGenericOpenGLRenderWindow> renderWindow = vtkSmartPointer<vtkGenericOpenGLRenderWindow>::New();
    renderWindow->AddRenderer(renderer);
    view.reset(new pcl::visualization::PCLVisualizer(renderer,renderWindow,"viewer",false));
    view->setupInteractor(ui->guiwidget->interactor(),ui->guiwidget->renderWindow());
    ui->guiwidget->setRenderWindow(view->getRenderWindow());
    connect(ui->pushButton, &QPushButton::clicked, this, &MainWindow::pushButtonClicked);
}

MainWindow::~MainWindow()
{
    delete ui;
}

void MainWindow::pushButtonClicked() {
    //读取pcd文件并显示
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());//创建点云指针
    pcl::io::loadPCDFile("F:rabbit.pcd",*cloud);
    view->addPointCloud(cloud,"cloud");
    view->resetCamera();    //视角
    ui->guiwidget->update();
}

main.cpp

#include <QApplication>
#include "mainwindow.h"

int main(int argc, char *argv[])
{
    QApplication a(argc, argv);
    MainWindow w;
    w.show();
    return a.exec();
}

运行结果