Ubuntu下QT Creator界面显示pcl点云数据
之前的博客里有介绍如何在windows下在QT Creator界面显示点云数据，见如下链接QTcreator界面上显示pcl点云数据_jiugeshao的专栏-CSDN博客
这里再介绍下Ubuntu下的配置。
1. 使用apt-get install libpcl-dev，安装完毕后，vtk和eigen都会安装上了
2.可在/usr下看到安装的一些版本：
2. 用QTCreator打开项目，在里面加入界面显示pcl点云得到功能，这个项目的式样可见之前博客
Ubuntu下Qt Creator配置opencv_jiugeshao的专栏-CSDN博客
3.在.pro文件中加入如下配置项
INCLUDEPATH += /usr/include/eigen3
INCLUDEPATH += /usr/include/vtk-7.1
LIBS += /usr/lib/x86_64-linux-gnu/libvtk*.so
INCLUDEPATH += /usr/include/boost
LIBS += /usr/lib/x86_64-linux-gnu/libboost_*.so
INCLUDEPATH += /usr/include/pcl-1.10
LIBS += /usr/lib/x86_64-linux-gnu/libpcl_*.so界面上增加一个Widget控件
右击该控件，选择Promoted widgets选项
如下设置，可参考我之前博客QTcreator界面上显示pcl点云数据_jiugeshao的专栏-CSDN博客
4.添加代码，mainwindow.h中代码如下：
#ifndef MAINWINDOW_H
#define MAINWINDOW_H
#include
#include
#include
#include
#include
namespace Ui {
class MainWindow;
}
class MainWindow : public QMainWindow
{
Q_OBJECT
public:
explicit MainWindow(QWidget *parent = nullptr);
~MainWindow();
private slots:
void slot1();
private:
Ui::MainWindow *ui;
pcl::visualization::PCLVisualizer::Ptr viewer;
};
#endif // MAINWINDOW_H
mainwindow.cpp中代码如下：
#include "mainwindow.h"
#include "ui_mainwindow.h"
#include
#include
#include
VTK_MODULE_INIT(vtkRenderingOpenGL2);
VTK_MODULE_INIT(vtkInteractionStyle);
VTK_MODULE_INIT(vtkRenderingFreeType);
#include "vtkConeSource.h"
#include "vtkConeSource.h"
#include "vtkCommand.h"
#include "vtkCamera.h"
#include "vtkRenderWindowInteractor.h"
#include "vtkTransform.h"
#include "vtkInteractorStyleTrackballCamera.h"
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include
#include //pcd 读写类相关的头文件。
#include
#include
#include
using namespace pcl;
using namespace cv;
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::slot1()
{
ui->textEdit->setText("hello world!");
Mat img = imread("/home/icecreamshao/108.bmp");
imshow("image", img);
waitKey(0);
Mat temp;
cvtColor(img, temp, CV_BGR2RGB);
QImage Qtemp = QImage((const unsigned char*)(temp.data), temp.cols, temp.rows, temp.step, QImage::Format_RGB888);
ui->label->setPixmap(QPixmap::fromImage(Qtemp));
ui->label->resize(Qtemp.size());
ui->label->show();
pcl::PointCloud::Ptr cloud(new pcl::PointCloud);
//第一种读入方法较多场合如此
char strfilepath[256] = "/home/icecreamshao/rabbit.pcd";
if (-1 == pcl::io::loadPCDFile(strfilepath, *cloud))
{
cout << "error input!" << endl;
return;
}
std::cout << "read completed" << std::endl;
cout << cloud->points.size() << endl;
viewer->addPointCloud(cloud);
// boost::shared_ptr viewer(new pcl::visualization::PCLVisualizer("PointsCloud Recognition"));
// viewer->addPointCloud(cloud, "model_cloud");
//viewer->addCoordinateSystem(1.0);
//viewer->initCameraParameters();
// while (!viewer->wasStopped())
// {
// viewer->spinOnce(100);
// boost::this_thread::sleep(boost::posix_time::microseconds(100000));
//}
//正方体点云
// pcl::visualization::CloudViewer viewer("Cloud Viewer");
// pcl::PointCloud::Ptr cloud(new pcl::PointCloud());
// for(int i=0; i<20; i++)
// {
// for(int j=0; j<20; j++)
// {
// for(int k = 0; k<20; k++)
// {
// cloud->push_back(pcl::PointXYZ((i-10)/1.0f, (j-10)/1.0f, (k-10)/1.0f));
// }
// }
// }
// viewer.showCloud(cloud);
// while(!viewer.wasStopped());
}
MainWindow::~MainWindow()
{
delete ui;
}
5.运行出现报错
#error PCL requires c++14 or above
解决方式是在pro中修改支持的c++版本到14，
CONFIG += c++14修改完毕后test_QT_GUI2.pro中的内容如下：
#-------------------------------------------------
#
# Project created by QtCreator 2021-09-26T21:43:41
#
#-------------------------------------------------
QT += core gui
greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
TARGET = test_QT_GUI2
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++14
SOURCES += \
main.cpp \
mainwindow.cpp
HEADERS += \
mainwindow.h
FORMS += \
mainwindow.ui
INCLUDEPATH += /usr/local/include \
/usr/local/include/opencv \
/usr/local/include/opencv2
LIBS += /usr/local/lib/libopencv_highgui.so \
/usr/local/lib/libopencv_core.so \
/usr/local/lib/libopencv_imgproc.so \
/usr/local/lib/libopencv_imgcodecs.so
INCLUDEPATH += /usr/include/eigen3
INCLUDEPATH += /usr/include/vtk-7.1
LIBS += /usr/lib/x86_64-linux-gnu/libvtk*.so
INCLUDEPATH += /usr/include/boost
LIBS += /usr/lib/x86_64-linux-gnu/libboost_*.so
INCLUDEPATH += /usr/include/pcl-1.10
LIBS += /usr/lib/x86_64-linux-gnu/libpcl_*.so
# Default rules for deployment.
qnx: target.path = /tmp/$${TARGET}/bin
else: unix:!android: target.path = /opt/$${TARGET}/bin
!isEmpty(target.path): INSTALLS += target
运行程序，运行效果如下图，界面上show出了经典的兔子3D点云图。
