QTcreator界面上显示pcl点云数据

下面说明下如何在Qt Creator的GUI界面上显示点云

前面有三篇博客讲了相关内容，这里在QTcreate编译器环境下再配置下PCL，并界面显示点云

至于QVTKWidgetPlugin.dll的获取及位置存放见前面系列博客

1. 新建一个test_QTcreator_show工程，界面上拖放一个Widget控件

2.右击控件，选择提升为，配置如下：

点击上图中的添加按钮

勾选上图中的复选框

然后在选择右下角的提升按钮，完毕。

再添加一个按钮，界面设计如下：

接下来进入test_QTcreator_show.pro，编辑后文件如下：

#-------------------------------------------------
#
# Project created by QtCreator 2020-10-31T15:48:04
#
#-------------------------------------------------

QT       += core gui


greaterThan(QT_MAJOR_VERSION, 4): QT += widgets

TARGET = test_QTcreator_show
TEMPLATE = app

# The following define makes your compiler emit warnings if you use
# any feature of Qt which has been marked as deprecated (the exact warnings
# depend on your compiler). Please consult the documentation of the
# deprecated API in order to know how to port your code away from it.
DEFINES += QT_DEPRECATED_WARNINGS

# You can also make your code fail to compile if you use deprecated APIs.
# In order to do so, uncomment the following line.
# You can also select to disable deprecated APIs only up to a certain version of Qt.
#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0


CONFIG += c++11

SOURCES += \
        main.cpp \
        mainwindow.cpp

HEADERS += \
        mainwindow.h

FORMS += \
        mainwindow.ui

INCLUDEPATH += $$quote(C:/Qt/Qt5.12.1/5.12.1/msvc2017/include)

INCLUDEPATH += $$quote(C:/Qt/Qt5.12.1/5.12.1/msvc2017/include/QtWidgets)

INCLUDEPATH += $$quote(C:/Qt/Qt5.12.1/5.12.1/msvc2017/include/QtNetwork)

INCLUDEPATH += $$quote(C:/Qt/Qt5.12.1/5.12.1/msvc2017/include/QtCore)

INCLUDEPATH += $$quote(C:/Qt/Qt5.12.1/5.12.1/msvc2017/include/Qt3DInput)

INCLUDEPATH += $$quote(C:/Qt/Qt5.12.1/5.12.1/msvc2017/include/QtGui)

INCLUDEPATH += $$quote(C:/Program Files/PCL 1.8.1/include/pcl-1.8)

INCLUDEPATH += $$quote(C:/Program Files/PCL 1.8.1/3rdParty/Boost/include/boost-1_64)

INCLUDEPATH += $$quote(C:/Program Files/PCL 1.8.1/3rdParty/Qhull/include)

INCLUDEPATH += $$quote(C:/Program Files/PCL 1.8.1/3rdParty/FLANN/include/flann)

INCLUDEPATH += $$quote(C:/Program Files/PCL 1.8.1/3rdParty/Eigen/eigen3)

INCLUDEPATH += $$quote(C:/Program Files/PCL 1.8.1/3rdParty/VTK/include/vtk-8.0)

INCLUDEPATH += $$quote(C:/Program Files/PCL 1.8.1/3rdParty/FLANN/include)

CONFIG(debug,debug|release){
LIBS += -L$$quote(C:\Program Files\PCL 1.8.1\lib)\
        -lpcl_common_debug\
        -lpcl_features_debug\
        -lpcl_filters_debug\
        -lpcl_io_debug\
        -lpcl_io_ply_debug\
        -lpcl_kdtree_debug\
        -lpcl_keypoints_debug\
        -lpcl_ml_debug\
        -lpcl_octree_debug\
        -lpcl_outofcore_debug\
        -lpcl_people_debug\
        -lpcl_recognition_debug\
        -lpcl_registration_debug\
        -lpcl_sample_consensus_debug\
        -lpcl_search_debug\
        -lpcl_segmentation_debug\
        -lpcl_stereo_debug\
        -lpcl_surface_debug\
        -lpcl_tracking_debug\
        -lpcl_visualization_debug

LIBS += -L$$quote(C:\Program Files\PCL 1.8.1\3rdParty\Boost\lib)\
 -llibboost_atomic-vc141-mt-gd-1_64\
        -llibboost_bzip2-vc141-mt-gd-1_64\
        -llibboost_chrono-vc141-mt-gd-1_64\
        -llibboost_container-vc141-mt-gd-1_64\
        -llibboost_context-vc141-mt-gd-1_64\
        -llibboost_coroutine-vc141-mt-gd-1_64\
        -llibboost_date_time-vc141-mt-gd-1_64\
        -llibboost_exception-vc141-mt-gd-1_64\
        -llibboost_fiber-vc141-mt-gd-1_64\
        -llibboost_filesystem-vc141-mt-gd-1_64\
        -llibboost_graph-vc141-mt-gd-1_64\
        -llibboost_graph_parallel-vc141-mt-gd-1_64\
        -llibboost_iostreams-vc141-mt-gd-1_64\
        -llibboost_locale-vc141-mt-gd-1_64\
        -llibboost_log-vc141-mt-gd-1_64\
        -llibboost_log_setup-vc141-mt-gd-1_64\
        -llibboost_math_c99-vc141-mt-gd-1_64\
        -llibboost_math_c99f-vc141-mt-gd-1_64\
        -llibboost_math_c99l-vc141-mt-gd-1_64\
        -llibboost_math_tr1-vc141-mt-gd-1_64\
        -llibboost_math_tr1f-vc141-mt-gd-1_64\
        -llibboost_math_tr1l-vc141-mt-gd-1_64\
        -llibboost_mpi-vc141-mt-gd-1_64\
        -llibboost_numpy-vc141-mt-gd-1_64\
        -llibboost_numpy3-vc141-mt-gd-1_64\
        -llibboost_prg_exec_monitor-vc141-mt-gd-1_64\
        -llibboost_program_options-vc141-mt-gd-1_64\
        -llibboost_python-vc141-mt-gd-1_64\
        -llibboost_python3-vc141-mt-gd-1_64\
        -llibboost_random-vc141-mt-gd-1_64\
        -llibboost_regex-vc141-mt-gd-1_64\
        -llibboost_serialization-vc141-mt-gd-1_64\
        -llibboost_signals-vc141-mt-gd-1_64\
        -llibboost_system-vc141-mt-gd-1_64\
        -llibboost_test_exec_monitor-vc141-mt-gd-1_64\
        -llibboost_thread-vc141-mt-gd-1_64\
        -llibboost_timer-vc141-mt-gd-1_64\
        -llibboost_type_erasure-vc141-mt-gd-1_64\
        -llibboost_unit_test_framework-vc141-mt-gd-1_64\
        -llibboost_wave-vc141-mt-gd-1_64\
        -llibboost_wserialization-vc141-mt-gd-1_64\
        -llibboost_zlib-vc141-mt-gd-1_64

LIBS += -L$$quote(C:\Program Files\PCL 1.8.1\3rdParty\FLANN\lib)\
        -lflann-gd\
        -lflann_cpp-gd\
        -lflann_cpp_s-gd\
        -lflann_s-gd

LIBS += -L$$quote(C:\Program Files\PCL 1.8.1\3rdParty\Lib)\
        -lOpenNI2

LIBS += -L$$quote(C:\Program Files\PCL 1.8.1\3rdParty\Qhull\lib)\
        -lqhull_d\
        -lqhullcpp_d\
        -lqhullstatic_d\
        -lqhullstatic_r_d\
        -lqhull_p_d\
        -lqhull_r_d

LIBS += -L$$quote(C:\Program Files\PCL 1.8.1\3rdParty\VTK\lib)\
        -lvtkalglib-8.0-gd\
        -lvtkChartsCore-8.0-gd\
        -lvtkCommonColor-8.0-gd\
        -lvtkCommonComputationalGeometry-8.0-gd\
        -lvtkCommonCore-8.0-gd\
        -lvtkCommonDataModel-8.0-gd\
        -lvtkCommonExecutionModel-8.0-gd\
        -lvtkCommonMath-8.0-gd\
        -lvtkCommonMisc-8.0-gd\
        -lvtkCommonSystem-8.0-gd\
        -lvtkCommonTransforms-8.0-gd\
        -lvtkDICOMParser-8.0-gd\
        -lvtkDomainsChemistry-8.0-gd\
        -lvtkDomainsChemistryOpenGL2-8.0-gd\
        -lvtkexoIIc-8.0-gd\
        -lvtkexpat-8.0-gd\
        -lvtkFiltersAMR-8.0-gd\
        -lvtkFiltersCore-8.0-gd\
        -lvtkFiltersExtraction-8.0-gd\
        -lvtkFiltersFlowPaths-8.0-gd\
        -lvtkFiltersGeneral-8.0-gd\
        -lvtkFiltersGeneric-8.0-gd\
        -lvtkFiltersGeometry-8.0-gd\
        -lvtkFiltersHybrid-8.0-gd\
        -lvtkFiltersHyperTree-8.0-gd\
        -lvtkFiltersImaging-8.0-gd\
        -lvtkFiltersModeling-8.0-gd\
        -lvtkFiltersParallel-8.0-gd\
        -lvtkFiltersParallelImaging-8.0-gd\
        -lvtkFiltersPoints-8.0-gd\
        -lvtkFiltersProgrammable-8.0-gd\
        -lvtkFiltersSelection-8.0-gd\
        -lvtkFiltersSMP-8.0-gd\
        -lvtkFiltersSources-8.0-gd\
        -lvtkFiltersStatistics-8.0-gd\
        -lvtkFiltersTexture-8.0-gd\
        -lvtkFiltersTopology-8.0-gd\
        -lvtkFiltersVerdict-8.0-gd\
        -lvtkfreetype-8.0-gd\
        -lvtkGeovisCore-8.0-gd\
        -lvtkgl2ps-8.0-gd\
        -lvtkglew-8.0-gd\
        -lvtkGUISupportQt-8.0-gd\
        -lvtkGUISupportQtSQL-8.0-gd\
        -lvtkhdf5-8.0-gd\
        -lvtkhdf5_hl-8.0-gd\
        -lvtkImagingColor-8.0-gd\
        -lvtkImagingCore-8.0-gd\
        -lvtkImagingFourier-8.0-gd\
        -lvtkImagingGeneral-8.0-gd\
        -lvtkImagingHybrid-8.0-gd\
        -lvtkImagingMath-8.0-gd\
        -lvtkImagingMorphological-8.0-gd\
        -lvtkImagingSources-8.0-gd\
        -lvtkImagingStatistics-8.0-gd\
        -lvtkImagingStencil-8.0-gd\
        -lvtkInfovisCore-8.0-gd\
        -lvtkInfovisLayout-8.0-gd\
        -lvtkInteractionImage-8.0-gd\
        -lvtkInteractionStyle-8.0-gd\
        -lvtkInteractionWidgets-8.0-gd\
        -lvtkIOAMR-8.0-gd\
        -lvtkIOCore-8.0-gd\
        -lvtkIOEnSight-8.0-gd\
        -lvtkIOExodus-8.0-gd\
        -lvtkIOExport-8.0-gd\
        -lvtkIOExportOpenGL2-8.0-gd\
        -lvtkIOGeometry-8.0-gd\
        -lvtkIOImage-8.0-gd\
        -lvtkIOImport-8.0-gd\
        -lvtkIOInfovis-8.0-gd\
        -lvtkIOLegacy-8.0-gd\
        -lvtkIOLSDyna-8.0-gd\
        -lvtkIOMINC-8.0-gd\
        -lvtkIOMovie-8.0-gd\
        -lvtkIONetCDF-8.0-gd\
        -lvtkIOParallel-8.0-gd\
        -lvtkIOParallelXML-8.0-gd\
        -lvtkIOPLY-8.0-gd\
        -lvtkIOSQL-8.0-gd\
        -lvtkIOTecplotTable-8.0-gd\
        -lvtkIOVideo-8.0-gd\
        -lvtkIOXML-8.0-gd\
        -lvtkIOXMLParser-8.0-gd\
        -lvtkjpeg-8.0-gd\
        -lvtkjsoncpp-8.0-gd\
        -lvtklibharu-8.0-gd\
        -lvtklibxml2-8.0-gd\
        -lvtkLocalExample-8.0-gd\
        -lvtklz4-8.0-gd\
        -lvtkmetaio-8.0-gd\
        -lvtkNetCDF-8.0-gd\
        -lvtkoggtheora-8.0-gd\
        -lvtkParallelCore-8.0-gd\
        -lvtkpng-8.0-gd\
        -lvtkproj4-8.0-gd\
        -lvtkRenderingAnnotation-8.0-gd\
        -lvtkRenderingContext2D-8.0-gd\
        -lvtkRenderingContextOpenGL2-8.0-gd\
        -lvtkRenderingCore-8.0-gd\
        -lvtkRenderingFreeType-8.0-gd\
        -lvtkRenderingGL2PSOpenGL2-8.0-gd\
        -lvtkRenderingImage-8.0-gd\
        -lvtkRenderingLabel-8.0-gd\
        -lvtkRenderingLOD-8.0-gd\
        -lvtkRenderingOpenGL2-8.0-gd\
        -lvtkRenderingQt-8.0-gd\
        -lvtkRenderingVolume-8.0-gd\
        -lvtkRenderingVolumeOpenGL2-8.0-gd\
        -lvtksqlite-8.0-gd\
        -lvtksys-8.0-gd\
        -lvtkTestingGenericBridge-8.0-gd\
        -lvtkTestingIOSQL-8.0-gd\
        -lvtkTestingRendering-8.0-gd\
        -lvtktiff-8.0-gd\
        -lvtkverdict-8.0-gd\
        -lvtkViewsContext2D-8.0-gd\
        -lvtkViewsCore-8.0-gd\
        -lvtkViewsInfovis-8.0-gd\
        -lvtkViewsQt-8.0-gd\
        -lvtkzlib-8.0-gd\
} else {
LIBS += -L$$quote(C:\Program Files\PCL 1.8.1\lib)\
        -lpcl_common_release\
        -lpcl_features_release\
        -lpcl_filters_release\
        -lpcl_io_ply_release\
        -lpcl_io_release\
        -lpcl_kdtree_release\
        -lpcl_keypoints_release\
        -lpcl_ml_release\
        -lpcl_octree_release\
        -lpcl_outofcore_release\
        -lpcl_people_release\
        -lpcl_recognition_release\
        -lpcl_registration_release\
        -lpcl_sample_consensus_release\
        -lpcl_search_release\
        -lpcl_segmentation_release\
        -lpcl_stereo_release\
        -lpcl_surface_release\
        -lpcl_tracking_release\
        -lpcl_visualization_release

LIBS += -L$$quote(C:\Program Files\PCL 1.8.1\3rdParty\Boost\lib)\
        -llibboost_atomic-vc141-mt-1_64\
        -llibboost_bzip2-vc141-mt-1_64\
        -llibboost_chrono-vc141-mt-1_64\
        -llibboost_container-vc141-mt-1_64\
        -llibboost_context-vc141-mt-1_64\
        -llibboost_coroutine-vc141-mt-1_64\
        -llibboost_date_time-vc141-mt-1_64\
        -llibboost_exception-vc141-mt-1_64\
        -llibboost_fiber-vc141-mt-1_64\
        -llibboost_filesystem-vc141-mt-1_64\
        -llibboost_graph-vc141-mt-1_64\
        -llibboost_graph_parallel-vc141-mt-1_64\
        -llibboost_iostreams-vc141-mt-1_64\
        -llibboost_locale-vc141-mt-1_64\
        -llibboost_log-vc141-mt-1_64\
        -llibboost_log_setup-vc141-mt-1_64\
        -llibboost_math_c99-vc141-mt-1_64\
        -llibboost_math_c99f-vc141-mt-1_64\
        -llibboost_math_c99l-vc141-mt-1_64\
        -llibboost_math_tr1-vc141-mt-1_64\
        -llibboost_math_tr1f-vc141-mt-1_64\
        -llibboost_math_tr1l-vc141-mt-1_64\
        -llibboost_mpi-vc141-mt-1_64\
        -llibboost_numpy-vc141-mt-1_64\
        -llibboost_numpy3-vc141-mt-1_64\
        -llibboost_prg_exec_monitor-vc141-mt-1_64\
        -llibboost_program_options-vc141-mt-1_64\
        -llibboost_python-vc141-mt-1_64\
        -llibboost_python3-vc141-mt-1_64\
        -llibboost_random-vc141-mt-1_64\
        -llibboost_regex-vc141-mt-1_64\
        -llibboost_serialization-vc141-mt-1_64\
        -llibboost_signals-vc141-mt-1_64\
        -llibboost_system-vc141-mt-1_64\
        -llibboost_test_exec_monitor-vc141-mt-1_64\
        -llibboost_thread-vc141-mt-1_64\
        -llibboost_timer-vc141-mt-1_64\
        -llibboost_type_erasure-vc141-mt-1_64\
        -llibboost_unit_test_framework-vc141-mt-1_64\
        -llibboost_wave-vc141-mt-1_64\
        -llibboost_wserialization-vc141-mt-1_64\
        -llibboost_zlib-vc141-mt-1_64

LIBS += -L$$quote(C:\Program Files\PCL 1.8.1\3rdParty\FLANN\lib)\
        -lflann\
        -lflann_cpp\
        -lflann_cpp_s\
        -lflann_s

LIBS += -L$$quote(C:\Program Files\PCL 1.8.1\3rdParty\Lib)\
        -lOpenNI2

LIBS += -L$$quote(C:\Program Files\PCL 1.8.1\3rdParty\Qhull\lib)\
        -lqhull\
        -lqhullcpp\
        -lqhullstatic\
        -lqhullstatic_r\
        -lqhull_p\
        -lqhull_r

LIBS += -L$$quote(C:\Program Files\PCL 1.8.1\3rdParty\VTK\lib)\
        -lvtkalglib-8.0\
        -lvtkChartsCore-8.0\
        -lvtkCommonColor-8.0\
        -lvtkCommonComputationalGeometry-8.0\
        -lvtkCommonCore-8.0\
        -lvtkCommonDataModel-8.0\
        -lvtkCommonExecutionModel-8.0\
        -lvtkCommonMath-8.0\
        -lvtkCommonMisc-8.0\
        -lvtkCommonSystem-8.0\
        -lvtkCommonTransforms-8.0\
        -lvtkDICOMParser-8.0\
        -lvtkDomainsChemistry-8.0\
        -lvtkDomainsChemistryOpenGL2-8.0\
        -lvtkexoIIc-8.0\
        -lvtkexpat-8.0\
        -lvtkFiltersAMR-8.0\
        -lvtkFiltersCore-8.0\
        -lvtkFiltersExtraction-8.0\
        -lvtkFiltersFlowPaths-8.0\
        -lvtkFiltersGeneral-8.0\
        -lvtkFiltersGeneric-8.0\
        -lvtkFiltersGeometry-8.0\
        -lvtkFiltersHybrid-8.0\
        -lvtkFiltersHyperTree-8.0\
        -lvtkFiltersImaging-8.0\
        -lvtkFiltersModeling-8.0\
        -lvtkFiltersParallel-8.0\
        -lvtkFiltersParallelImaging-8.0\
        -lvtkFiltersPoints-8.0\
        -lvtkFiltersProgrammable-8.0\
        -lvtkFiltersSelection-8.0\
        -lvtkFiltersSMP-8.0\
        -lvtkFiltersSources-8.0\
        -lvtkFiltersStatistics-8.0\
        -lvtkFiltersTexture-8.0\
        -lvtkFiltersTopology-8.0\
        -lvtkFiltersVerdict-8.0\
        -lvtkfreetype-8.0\
        -lvtkGeovisCore-8.0\
        -lvtkgl2ps-8.0\
        -lvtkglew-8.0\
        -lvtkGUISupportQt-8.0\
        -lvtkGUISupportQtSQL-8.0\
        -lvtkhdf5-8.0\
        -lvtkhdf5_hl-8.0\
        -lvtkImagingColor-8.0\
        -lvtkImagingCore-8.0\
        -lvtkImagingFourier-8.0\
        -lvtkImagingGeneral-8.0\
        -lvtkImagingHybrid-8.0\
        -lvtkImagingMath-8.0\
        -lvtkImagingMorphological-8.0\
        -lvtkImagingSources-8.0\
        -lvtkImagingStatistics-8.0\
        -lvtkImagingStencil-8.0\
        -lvtkInfovisCore-8.0\
        -lvtkInfovisLayout-8.0\
        -lvtkInteractionImage-8.0\
        -lvtkInteractionStyle-8.0\
        -lvtkInteractionWidgets-8.0\
        -lvtkIOAMR-8.0\
        -lvtkIOCore-8.0\
        -lvtkIOEnSight-8.0\
        -lvtkIOExodus-8.0\
        -lvtkIOExport-8.0\
        -lvtkIOExportOpenGL2-8.0\
        -lvtkIOGeometry-8.0\
        -lvtkIOImage-8.0\
        -lvtkIOImport-8.0\
        -lvtkIOInfovis-8.0\
        -lvtkIOLegacy-8.0\
        -lvtkIOLSDyna-8.0\
        -lvtkIOMINC-8.0\
        -lvtkIOMovie-8.0\
        -lvtkIONetCDF-8.0\
        -lvtkIOParallel-8.0\
        -lvtkIOParallelXML-8.0\
        -lvtkIOPLY-8.0\
        -lvtkIOSQL-8.0\
        -lvtkIOTecplotTable-8.0\
        -lvtkIOVideo-8.0\
        -lvtkIOXML-8.0\
        -lvtkIOXMLParser-8.0\
        -lvtkjpeg-8.0\
        -lvtkjsoncpp-8.0\
        -lvtklibharu-8.0\
        -lvtklibxml2-8.0\
        -lvtkLocalExample-8.0\
        -lvtklz4-8.0\
        -lvtkmetaio-8.0\
        -lvtkNetCDF-8.0\
        -lvtknetcdf_c++\
        -lvtkoggtheora-8.0\
        -lvtkParallelCore-8.0\
        -lvtkpng-8.0\
        -lvtkproj4-8.0\
        -lvtkRenderingAnnotation-8.0\
        -lvtkRenderingContext2D-8.0\
        -lvtkRenderingContextOpenGL2-8.0\
        -lvtkRenderingCore-8.0\
        -lvtkRenderingFreeType-8.0\
        -lvtkRenderingGL2PSOpenGL2-8.0\
        -lvtkRenderingImage-8.0\
        -lvtkRenderingLabel-8.0\
        -lvtkRenderingLOD-8.0\
        -lvtkRenderingOpenGL2-8.0\
        -lvtkRenderingQt-8.0\
        -lvtkRenderingVolume-8.0\
        -lvtkRenderingVolumeOpenGL2-8.0\
        -lvtksqlite-8.0\
        -lvtksys-8.0\
        -lvtkTestingGenericBridge-8.0\
        -lvtkTestingIOSQL-8.0\
        -lvtkTestingRendering-8.0\
        -lvtktiff-8.0\
        -lvtkverdict-8.0\
        -lvtkViewsContext2D-8.0\
        -lvtkViewsCore-8.0\
        -lvtkViewsInfovis-8.0\
        -lvtkViewsQt-8.0\
        -lvtkzlib-8.0\
}



# Default rules for deployment.
qnx: target.path = /tmp/$${TARGET}/bin
else: unix:!android: target.path = /opt/$${TARGET}/bin
!isEmpty(target.path): INSTALLS += target

这里值得注意的是，由于我的路径中含有空格，所以我每个路径都加了$$quote操作符，如果不加，会发现include文件、库文件都查找不到，比如

#include <QVTKWidget.h>会报找不到QVTKWidget.h错误

配置完毕后，编辑mainwindow.h文件

#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>

namespace Ui {
class MainWindow;
}

class MainWindow : public QMainWindow
{
    Q_OBJECT

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

private:
    Ui::MainWindow *ui;
    pcl::visualization::PCLVisualizer::Ptr viewer;

private slots:
    void showpcl();

};

#endif // MAINWINDOW_H

再编辑mainwindow.cpp文件

#include "mainwindow.h"
#include "ui_mainwindow.h"
#include <QMessagebox>

#include <vtkAutoInit.h>
VTK_MODULE_INIT(vtkRenderingOpenGL2);
VTK_MODULE_INIT(vtkInteractionStyle);
VTK_MODULE_INIT(vtkRenderingFreeType);

#include <boost/thread/thread.hpp> //多线程
#include "vtkConeSource.h"
#include "vtkConeSource.h"
#include "vtkCommand.h"
#include "vtkCamera.h"
#include "vtkRenderWindowInteractor.h"
#include "vtkTransform.h"
#include "vtkInteractorStyleTrackballCamera.h"
#include <vtkSmartPointer.h>
#include <vtkDoubleArray.h>
#include <vtkCellArray.h>
#include <vtkPolyData.h>
#include <vtkDataSet.h>
#include <vtkLookupTable.h>
#include <vtkPointData.h>
#include <vtkPolyDataMapper.h>
#include <vtkActor.h>
#include <vtkProperty.h>
#include <vtkRenderer.h>
#include <vtkRenderWindow.h>
#include <vtkInteractorStyleTrackballCamera.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkArcSource.h>
#include <vtkAppendPolyData.h>
#include <vtkScalarBarActor.h>
#include <vtkKdTree.h>
#include <vtkLODActor.h>
#include <vtkMath.h>
#include <vtkWindowToImageFilter.h>
#include <vtkBMPWriter.h>

#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/filter.h>
#include <pcl/features/normal_3d.h>
#include <boost/thread/thread.hpp> //多线程
#include <pcl/compression/octree_pointcloud_compression.h>
#include<pcl/visualization/cloud_viewer.h>
#include<pcl/io/io.h>
#include<pcl/io/pcd_io.h>//pcd 读写类相关的头文件。
#include<pcl/io/ply_io.h>
#include<pcl/PCLPointCloud2.h>
#include<pcl/point_types.h> //PCL中支持的点类型头文件。
#include <pcl/common/common_headers.h>
#include <pcl/features/range_image_border_extractor.h>
#include <pcl/keypoints/narf_keypoint.h>
#include <pcl/console/parse.h>
#include <pcl/point_types.h>
#include <pcl/ModelCoefficients.h>
#include <pcl/filters/project_inliers.h>
#include <pcl/range_image/range_image.h>
#include <pcl/visualization/range_image_visualizer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/registration/icp.h> //ICP(iterative closest point)配准
#include <pcl/registration/icp_nl.h>
#include <pcl/registration/transforms.h>
#include <pcl/pcl_macros.h>

using namespace pcl;
using namespace pcl::io;
using namespace std;

using pcl::visualization::PointCloudColorHandlerGenericField;
using pcl::visualization::PointCloudColorHandlerCustom;



MainWindow::MainWindow(QWidget *parent) :
    QMainWindow(parent),
    ui(new Ui::MainWindow)
{
    ui->setupUi(this);
    viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));
    ui->guiwidget->SetRenderWindow(viewer->getRenderWindow());
    viewer->setupInteractor(ui->guiwidget->GetInteractor(), ui->guiwidget->GetRenderWindow());
    ui->guiwidget->update();
}

void MainWindow::showpcl()
{
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
        char strfilepath[256] = "D:\\rabbit.pcd";
        std::cout << "start to read" << std::endl;
        第一种读入方法j较多场合如此
        if (-1 == pcl::io::loadPCDFile(strfilepath, *cloud)) {
            cout << "error input!" << endl;
        }
        QMessageBox::information(NULL, "Title", "read completed");
        cout << cloud->points.size() << endl;

        viewer->addPointCloud(cloud);

}

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

下面进入编译阶段，由于我的vtk是在vs2017环境下编译的，

由于pro文件中release和debug模式需要的lib文件都添加了，所以这里可以支持debug和release编译的，使用Qt 5.12.1 MSVC2017 bit编译环境来，

记得debug和release版本互相切换时，得先把工程清除下，再qmake,再去重新构建，然后运行