VS+Qt+C++点云PCL三维显示编辑系统

程序示例精选
VS+Qt+C++点云PCL三维显示编辑系统
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前言

这篇博客针对《VS+Qt+C++点云PCL三维显示编辑系统》编写代码，代码整洁，规则，易读。 学习与应用推荐首选。

文章目录

一、所需工具软件
二、使用步骤
       1. 主要代码
       2. 运行结果
三、在线协助

一、所需工具软件

       1. VS2019,Qt
       2. C++

二、使用步骤

代码如下（示例）：

 #include "PointCloudVision.h" #include <QFileDialog> #include <QFile> #include <QMessageBox> #include <QColorDialog>  PointCloudVision::PointCloudVision(QWidget* parent) 	: QMainWindow(parent) { 	ui.setupUi(this);  	//初始化 	init(); }  //获取两个点平行于坐标轴的最短距离 double getMinValue(PointT p1, PointT p2);  //获取两个点平行于坐标轴的最长距离 double getMaxValue(PointT p1, PointT p2);  //初始化 void PointCloudVision::init() { 	//点云初始化 	m_currentCloud.reset(new PointCloudT);  	//可视化对象初始化 	viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));  	viewer->addPointCloud(m_currentCloud, "cloud");  	//设置VTK可视化窗口指针 	ui.qvtkWidget->SetRenderWindow(viewer->getRenderWindow());  	//设置窗口交互，窗口可接受键盘等事件 	viewer->setupInteractor(ui.qvtkWidget->GetInteractor(), ui.qvtkWidget->GetRenderWindow());  	//添加坐标轴 	viewer->addCoordinateSystem();  	//ui.qvtkWidget->update();  	//槽函数 	connect(&heightRampDlg, SIGNAL(setHeightRamp(int, double)), this, SLOT(setHeightRamp(int, double)));   }  //打开点云 void PointCloudVision::on_action_open_triggered() { 	init();  	QString fileName = QFileDialog::getOpenFileName(this, "Open PointCloud", ".", "Open PCD files(*.pcd)"); 	if (!fileName.isEmpty()) 	{ 		std::string file_name = fileName.toStdString();  		pcl::PCLPointCloud2 cloud2; 		Eigen::Vector4f origin; 		Eigen::Quaternionf orientation; 		int pcd_version; 		int data_type; 		unsigned int data_idx; 		int offset = 0; 		pcl::PCDReader rd; 		rd.readHeader(file_name, cloud2, origin, orientation, pcd_version, data_type, data_idx); 		if (data_type == 0) 		{ 			pcl::io::loadPCDFile(fileName.toStdString(), *m_currentCloud); 		} 		else if (data_type == 2) 		{ 			pcl::PCDReader reader; 			reader.read<pcl::PointXYZ>(fileName.toStdString(), *m_currentCloud); 		}  		viewer->addCoordinateSystem();  		viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "cloud"); 		viewer->updatePointCloud(m_currentCloud, "cloud");  		// 获取点云数据的最小和最大坐标值 		pcl::getMinMax3D(*m_currentCloud, p_min, p_max);  		viewer->resetCamera(); 		ui.qvtkWidget->update(); 	} }  //重设视角 void PointCloudVision::on_action_reset_triggered() { 	if (!m_currentCloud->empty()) 	{ 		viewer->resetCamera(); 		ui.qvtkWidget->update(); 	} }  //俯视图 void PointCloudVision::on_action_up_triggered() { 	if (!m_currentCloud->empty()) 	{ 		viewer->setCameraPosition(0.5 * (p_min.x + p_max.x), 0.5 * (p_min.y + p_max.y), p_max.z + 2 * maxLen, 0.5 * (p_min.x + p_max.x), 0.5 * (p_min.y + p_max.y), 0, 0, 1, 0); 		viewer->updatePointCloud(m_currentCloud, "cloud"); 		ui.qvtkWidget->update();  		on_action_reset_triggered(); 	} }  //前视图 void PointCloudVision::on_action_front_triggered() { 	if (!m_currentCloud->empty()) 	{ 		viewer->setCameraPosition(0.5 * (p_min.x + p_max.x), p_min.y - 2 * maxLen, 0.5 * (p_min.z + p_max.z), 0.5 * (p_min.x + p_max.x), 0, 0.5 * (p_min.z + p_max.z), 0, 0, 1); 		viewer->updatePointCloud(m_currentCloud, "cloud"); 		ui.qvtkWidget->update();  		on_action_reset_triggered(); 	} }  //左视图 void PointCloudVision::on_action_left_triggered() { 	if (!m_currentCloud->empty()) 	{ 		viewer->setCameraPosition(p_min.x - 2 * maxLen, 0.5 * (p_min.y + p_max.y), 0.5 * (p_min.z + p_max.z), 0, 0.5 * (p_min.y + p_max.y), 0.5 * (p_min.z + p_max.z), 0, 0, 1); 		viewer->updatePointCloud(m_currentCloud, "cloud"); 		ui.qvtkWidget->update();  		on_action_reset_triggered(); 	} }  //后视图 void PointCloudVision::on_action_back_triggered() { 	if (!m_currentCloud->empty()) 	{ 		viewer->setCameraPosition(0.5 * (p_min.x + p_max.x), p_max.y + 2 * maxLen, 0.5 * (p_min.z + p_max.z), 0.5 * (p_min.x + p_max.x), 0, 0.5 * (p_min.z + p_max.z), 0, 0, 1); 		viewer->updatePointCloud(m_currentCloud, "cloud"); 		ui.qvtkWidget->update();  		on_action_reset_triggered(); 	} }  //右视图 void PointCloudVision::on_action_right_triggered() { 	if (!m_currentCloud->empty()) 	{ 		viewer->setCameraPosition(p_max.x + 2 * maxLen, 0.5 * (p_min.y + p_max.y), 0.5 * (p_min.z + p_max.z), 0, 0.5 * (p_min.y + p_max.y), 0.5 * (p_min.z + p_max.z), 0, 0, 1); 		viewer->updatePointCloud(m_currentCloud, "cloud"); 		ui.qvtkWidget->update();  		on_action_reset_triggered(); 	} }  //底视图 void PointCloudVision::on_action_bottom_triggered() { 	if (!m_currentCloud->empty()) 	{ 		viewer->setCameraPosition(0.5 * (p_min.x + p_max.x), 0.5 * (p_min.y + p_max.y), p_min.z - 2 * maxLen, 0.5 * (p_min.x + p_max.x), 0.5 * (p_min.y + p_max.y), 0, 0, 1, 0); 		viewer->updatePointCloud(m_currentCloud, "cloud"); 		ui.qvtkWidget->update();  		on_action_reset_triggered(); 	} }  //前轴测 void PointCloudVision::on_action_frontIso_triggered() { 	if (!m_currentCloud->empty()) 	{ 		viewer->setCameraPosition(p_min.x - 2 * maxLen, p_min.y - 2 * maxLen, p_max.z + 2 * maxLen, 0.5 * (p_min.x + p_max.x), 0.5 * (p_min.y + p_max.y), 0.5 * (p_min.z + p_max.z), 1, 1, 0); 		viewer->updatePointCloud(m_currentCloud, "cloud"); 		ui.qvtkWidget->update();  		on_action_reset_triggered(); 	} }  //后轴测 void PointCloudVision::on_action_backIso_triggered() { 	viewer->setCameraPosition(p_max.x + 2 * maxLen, p_max.y + 2 * maxLen, p_max.z + 2 * maxLen, 0.5 * (p_min.x + p_max.x), 0.5 * (p_min.y + p_max.y), 0.5 * (p_min.z + p_max.z), -1, -1, 0); 	viewer->updatePointCloud(m_currentCloud, "cloud"); 	ui.qvtkWidget->update();  	on_action_reset_triggered(); }  //设置点云颜色 void PointCloudVision::on_action_setColor_triggered() { 	QColor color = QColorDialog::getColor(Qt::white, this, "设置点云颜色", QColorDialog::ShowAlphaChannel);  	viewer->removeAllPointClouds(); 	pcl::visualization::PointCloudColorHandlerCustom<PointT> singleColor(m_currentCloud, color.red(), color.green(), color.blue()); 	viewer->addPointCloud(m_currentCloud, singleColor, "myCloud", 0); 	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_OPACITY, color.alpha() * 1.0 / 255, "myCloud");  	ui.qvtkWidget->update();  }  //设置高度渲染 void PointCloudVision::on_action_heightRamp_triggered() { 	heightRampDlg.show(); }  //进行高度渲染 void PointCloudVision::setHeightRamp(int dir, double height) { 	//清空点云 	viewer->removeAllPointClouds(); 	m_heightCloudList.clear();  	double min_range = 0; 	double max_range = 0; 	std::string field = "x";  	switch (dir) 	{ 	case 0: 		min_range = p_min.x; 		max_range = p_max.x; 		field = "x"; 		break;  	case 1: 		min_range = p_min.y; 		max_range = p_max.y; 		field = "y"; 		break;  	case 2: 		min_range = p_min.z; 		max_range = p_max.z; 		field = "z"; 		break; 	default: 		break; 	}  	for (double i = min_range - 1; i < max_range + height;) 	{ 		PointCloudT::Ptr cloudTemp(new PointCloudT());  		pcl::PassThrough<PointT> pass;			//直通滤波器对象 		pass.setInputCloud(m_currentCloud);		//输入点云 		pass.setFilterFieldName(field);			//设置过滤字段 		pass.setFilterLimits(i, i + height);	//设置过滤范围 		pass.setFilterLimitsNegative(false);	//设置保留字段 		pass.filter(*cloudTemp);				//执行滤波  		i += height;  		m_heightCloudList.append(cloudTemp); 	}  	//分段渲染 	for (int j = 0; j < m_heightCloudList.size(); j++) 	{ 		pcl::visualization::PointCloudColorHandlerGenericField<PointT> fieldColor(m_heightCloudList.at(j), field); 		std::string index = std::to_string(j); 		viewer->addPointCloud(m_heightCloudList.at(j), fieldColor, index); 	}  }  double getMinValue(PointT p1, PointT p2) { 	double min = 0;  	if (p1.x - p2.x > p1.y - p2.y) 	{ 		min = p1.y - p2.y; 	} 	else 	{ 		min = p1.x - p2.x; 	}  	if (min > p1.z - p2.z) 	{ 		min = p1.z - p2.z; 	}  	return min; }   double getMaxValue(PointT p1, PointT p2) { 	double max = 0;  	if (p1.x - p2.x > p1.y - p2.y) 	{ 		max = p1.x - p2.x; 	} 	else 	{ 		max = p1.y - p2.y; 	}  	if (max < p1.z - p2.z) 	{ 		max = p1.z - p2.z; 	}  	return max; }   

运行结果

三、在线协助：

如需安装运行环境或远程调试，见文章底部个人 QQ 名片，由专业技术人员远程协助！

1）远程安装运行环境，代码调试
2）Visual Studio, Qt, C++, Python编程语言入门指导
3）界面美化
4）软件制作
5）云服务器申请
6）网站制作

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