中国人真是太不知道分享了,看看这个老外的博客,启发性链接

http://www.pcl-users.org/


1. 这个是可用的源代码:
原文:I saw a thread with links to a non-vtk qt visualizer of pcl pointclouds, but I want to reuse as much of PCLVisualizer as possible and minimize novel code.  My hacky solution is below but it suffers
from the problem of creating an unused non-qt window in addition to the desired qt window that displays the point cloud and accepts mouse input.
I'd be fine with figuring out how to suppress that window or at least close it soon after it opens (though not if it requires changing vtk code), but a another solution might be to break out what addPointCloud() & fromHandlersToScreen() are doing into
accessible utility functions.
Any suggestions for how to proceed?  
Thanks,
-Lucas 

I installed QVTKWidget on Ubuntu with the package libvtk5-qt4-dev.

I added this to PCLVisualizer:
vtkSmartPointer<vtkRenderWindow> getRenderWindow() {

  return win_;

}

and my code looks like this (it's based off http://www.itk.org/Wiki/VTK/Examples/Cxx/Qt/RenderWindowNoUiFile):
///////////////////////////////////////////////使用RenderWindow

The complete modified source:

       #include <QApplication>
#include <pcl/io/pcd_io.h>
#include <pcl/features/normal_3d.h>
#include <pcl/sample_consensus/sac_model_plane.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/common/common.h> #include <QVTKWidget.h>
int main(int argc, char** argv)
{
QApplication app(argc, argv);
QVTKWidget widget;
widget.resize(512, 256);
{
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_xyz (new pcl::PointCloud<pcl::PointXYZ>);
{
for (float y = -0.5f; y <= 0.5f; y += 0.01f)
{
for (float z = -0.5f; z <= 0.5f; z += 0.01f)
{
pcl::PointXYZ point;
point.x = 2.0f - y;
point.y = y;
point.z = z;
cloud_xyz->points.push_back (point);
}
}
cloud_xyz->width = cloud_xyz->points.size ();
cloud_xyz->height = 1;
}
// this creates and displays a window named "test_viz"
// upon calling PCLVisualizerInteractor interactor_->Initialize ();
// how to disable that?
pcl::visualization::PCLVisualizer pviz ("test_viz", false);
// not sure why but it is necessary to set the render window before modifying pviz
vtkSmartPointer<vtkRenderWindow> renderWindow = pviz.getRenderWindow ();
widget.SetRenderWindow (renderWindow);
// these are useful to add to make the controls more like pcd_viewer
pviz.setupInteractor (widget.GetInteractor (), widget.GetRenderWindow ());
pviz.getInteractorStyle ()->setKeyboardModifier (pcl::visualization::INTERACTOR_KB_MOD_SHIFT);
pviz.addPointCloud<pcl::PointXYZ>(cloud_xyz);
pviz.setBackgroundColor(0, 0, 0.1);
}
widget.show();
app.exec();
return EXIT_SUCCESS;
}

、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、、

出现的错误

c:\Dev\VTK5.8.0\include\vtk-5.8\vtkSmartPointer.h:75: 错误:C2440: “static_cast”: 无法从“vtkObjectBase *const ”转换为“vtkRenderWindow *”

与指向的类型无关;转换要求 reinterpret_cast、C 样式转换或函数样式转换

c:\Dev\VTK5.8.0\include\vtk-5.8\vtkSmartPointer.h(74): 编译类 模板 成员函数“vtkSmartPointer<T>::operator T(void) const”时

with
[
T=vtkRenderWindow
]
c:\PCL_1.7.1\include\pcl/visualization/common/ren_win_interact_map.h(70): 参见对正在编译的类 模板 实例化“vtkSmartPointer<T>”的引用
with
[
T=vtkRenderWindow
]

2.这个可以实现JPEG图像读取显示

原文:RenderWindowNoUiFile.cxx

#include <QApplication>

#include <vtkSmartPointer.h>
#include <vtkSphereSource.h>
#include <vtkPolyDataMapper.h>
#include <vtkActor.h>
#include <vtkImageViewer.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkInteractorStyleImage.h>
#include <vtkRenderer.h>
#include <vtkJPEGReader.h> #include <QVTKWidget.h> int main(int argc, char** argv)
{
QApplication app(argc, argv); QVTKWidget widget;
widget.resize(256,256); // Setup sphere
vtkSmartPointer<vtkSphereSource> sphereSource =
vtkSmartPointer<vtkSphereSource>::New();
sphereSource->Update();
vtkSmartPointer<vtkPolyDataMapper> sphereMapper =
vtkSmartPointer<vtkPolyDataMapper>::New();
sphereMapper->SetInputConnection(sphereSource->GetOutputPort());
vtkSmartPointer<vtkActor> sphereActor =
vtkSmartPointer<vtkActor>::New();
sphereActor->SetMapper(sphereMapper); // Setup window
vtkSmartPointer<vtkRenderWindow> renderWindow =
vtkSmartPointer<vtkRenderWindow>::New(); // Setup renderer
vtkSmartPointer<vtkRenderer> renderer =
vtkSmartPointer<vtkRenderer>::New();
renderWindow->AddRenderer(renderer); renderer->AddActor(sphereActor);
renderer->ResetCamera(); widget.SetRenderWindow(renderWindow);
widget.show();
app.exec();
return EXIT_SUCCESS;
} CMakeLists.txt cmake_minimum_required(VERSION 2.8) if(POLICY CMP0020)
cmake_policy(SET CMP0020 NEW)
endif() PROJECT(RenderWindowNoUiFile) find_package(VTK REQUIRED)
include(${VTK_USE_FILE}) if(${VTK_VERSION} VERSION_GREATER "6" AND VTK_QT_VERSION VERSION_GREATER "4")
# Instruct CMake to run moc automatically when needed.
set(CMAKE_AUTOMOC ON)
find_package(Qt5Widgets REQUIRED QUIET)
else()
find_package(Qt4 REQUIRED)
include(${QT_USE_FILE})
endif() include_directories(${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR}) file(GLOB UI_FILES *.ui)
file(GLOB QT_WRAP *.h)
file(GLOB CXX_FILES *.cxx) if(${VTK_VERSION} VERSION_GREATER "6" AND VTK_QT_VERSION VERSION_GREATER "4")
qt5_wrap_ui(UISrcs ${UI_FILES} )
# CMAKE_AUTOMOC in ON so the MocHdrs will be automatically wrapped.
add_executable(RenderWindowNoUiFile MACOSX_BUNDLE
${CXX_FILES} ${UISrcs} ${QT_WRAP})
qt5_use_modules(RenderWindowNoUiFile Core Gui)
target_link_libraries(RenderWindowNoUiFile ${VTK_LIBRARIES})
else()
QT4_WRAP_UI(UISrcs ${UI_FILES})
QT4_WRAP_CPP(MOCSrcs ${QT_WRAP})
add_executable(RenderWindowNoUiFile MACOSX_BUNDLE ${CXX_FILES} ${UISrcs} ${MOCSrcs}) if(VTK_LIBRARIES)
if(${VTK_VERSION} VERSION_LESS "6")
target_link_libraries(RenderWindowNoUiFile ${VTK_LIBRARIES} QVTK)
else()
target_link_libraries(RenderWindowNoUiFile ${VTK_LIBRARIES})
endif()
else()
target_link_libraries(RenderWindowNoUiFile vtkHybrid QVTK vtkViews ${QT_LIBRARIES})
endif()
endif()

Download and Build RenderWindowNoUiFile

Click here to download RenderWindowNoUiFile. and its CMakeLists.txt file.

Once the tarball RenderWindowNoUiFile.tar has been downloaded and extracted,

cd RenderWindowNoUiFile/build

This example requires Qt and VTK.

  • If VTK and Qt are installed:
cmake ..
  • If VTK is not installed but compiled on your system, you will need to specify the path to your VTK build:
cmake -DVTK_DIR:PATH=/home/me/vtk_build ..
  • If Qt is not found on your system, you will need to tell CMake where to find qmake:
cmake -DQT_QMAKE_EXECUTABLE:FILEPATH=/usr/something/qmake  ..

Build the project:

make

and run it:

./RenderWindowNoUiFile

随机推荐

  1. Parsing error: The keyword 'export' is reserved && error Parsing error: Unexpected token <

    如果你也在使用eslint,也报了如上错误,可以尝试: $ npm install babel-eslint --save-dev 然后,加上: rules: { "parser" ...

  2. 磁盘及文件系统管理(以及btrfs)

    Linux系统管理 磁盘分区及文件系统管理 raid lvm 网络属性管理 程序包管理 sed及awk 进程查看和管理 内核管理(内核的编译和安装) 系统启动流程 定制,编译内核,busybox 系统 ...

  3. struts2中<jsp:forward>跳转时报404错误的问题

    index.jsp页面:     <jsp:forward page="show.action"></jsp:forward>      在struts.x ...

  4. Netty学习总结(2)——Netty的高性能架构之道

    Netty是一个高性能.异步事件驱动的NIO框架,它提供了对TCP.UDP和文件传输的支持,作为一个异步NIO框架,Netty的所有IO操作都是异步非阻塞的,通过Future-Listener机制,用 ...

  5. orcale 查询

    修改日期显示形式: alter session set nls_date_formate='DD-MON-RR'; alter session set nls_date_formate='yyyy-M ...

  6. ExtJs之Ext.view.View

    要注意MODEL的定义和实例化的代码,注释掉的是老式的不兼容4.0以上的.而下面的定义才是新推荐的. 我网上可是查的了.是书上的代码老了. <!DOCTYPE html> <html ...

  7. [bzoj1090][SCOI2003]字符串折叠_区间dp

    字符串折叠 bzoj-1090 SCOI-2003 题目大意:我说不明白...链接 注释:自己看 想法:动态规划 状态:dp[i][j]表示从第i个字符到第j个字符折叠后的最短长度. 转移:dp[l] ...

  8. [bzoj3505][CQOI2014]数三角形_组合数学

    数三角形 bzoj-3505 CQOI-2014 题目大意:给你一个n*m的网格图,问你从中选取三个点,能构成三角形的个数. 注释:$1\le n,m\le 1000$. 想法:本来是想着等中考完了之 ...

  9. POJ 题目3020 Antenna Placement(二分图)

    Antenna Placement Time Limit: 1000MS   Memory Limit: 65536K Total Submissions: 7011   Accepted: 3478 ...

  10. jQuery高性能自己定义滚动栏美化插件

    malihu是一款高性能的滚动栏美化jQuery插件. 该滚动栏美化插件支持水平和垂直滚动栏,支持鼠标滚动,支持键盘滚动和支持移动触摸屏. 而且它能够和jQuery UI和Bootatrap完美的结合 ...