**PCL:嵌入VTK/QT显示(Code^_^)
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。
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.
accessible utility functions.
I installed QVTKWidget on Ubuntu with the package libvtk5-qt4-dev.
vtkSmartPointer<vtkRenderWindow> getRenderWindow() {
return win_;
}
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;
}
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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
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