QT界面上显示pcl点云数据

注：此篇所用的PCL 1.8.1版本对应的vtk版本是vtk8.0，但如用到高版本，比如pcl 1.12.1,那么显示方法稍有出入，可移步至博客

https://blog.csdn.net/jiugeshao/article/details/127679901

此篇接下来的配置都是针对PCL1.8.1版本下，如何在QT界面显示点云来展开的。

下面说明如何在QT GUI界面上添加控件显示用pcl读入的三维点云数据。

QT5.12.1的安装与VS2017配置参照下面博客，博客中是QT5.11.1

Qt5.11.1安装与VS2017配置_GJXAIOU 的 CSDN 博客-CSDN博客

QT5.12.1的下载路径如下：

链接：https://pan.baidu.com/s/1YDizCx2_zF4LQBOnk3JxhA 
提取码：5wza 

不同于博客，我这里同时配置x64和32位两个版本

在Default Qt/Win version版本里可以做切换

同时在环境变量里添加如下路径

QT4到QT5工程的迁移见我的另个博客

我的博客中讲了如何重新编译VTK8.0, 把在release模式下安装得到的C:\VTK\plugins\designer文件夹下的QVTKWidgetPlugin.dll拷贝到C:\Qt\Qt5.12.1\5.12.1\msvc2017_64\plugins\designer文件夹下

在vs里新建一个QT项目，首先先搞定Debug，x64版本

打开gui，可以看到左下面多了一个QVTKWidget控件

编译报错无法打开包括文件: "QVTKWidget.h": No such file or directory

这里需要在工程的包含目录中添加

C:\Program Files\PCL 1.8.1\3rdParty\VTK\include\vtk-8.0路径。因为后面还要配置pcl，所以把我的配置贴下

链接器常规的附加库目录选择

链接器的输入中输入如下lib

vtknetcdf_c++-gd.lib
pcl_common_debug.lib
pcl_features_debug.lib
pcl_filters_debug.lib
pcl_io_ply_debug.lib
pcl_io_debug.lib
pcl_kdtree_debug.lib
pcl_keypoints_debug.lib
pcl_ml_debug.lib
pcl_octree_debug.lib
pcl_outofcore_debug.lib
pcl_people_debug.lib
pcl_recognition_debug.lib
pcl_registration_debug.lib
pcl_sample_consensus_debug.lib
pcl_search_debug.lib
pcl_segmentation_debug.lib
pcl_stereo_debug.lib
pcl_surface_debug.lib
pcl_tracking_debug.lib
pcl_visualization_debug.lib
libboost_atomic-vc141-mt-gd-1_64.lib
libboost_bzip2-vc141-mt-gd-1_64.lib
libboost_chrono-vc141-mt-gd-1_64.lib
libboost_container-vc141-mt-gd-1_64.lib
libboost_context-vc141-mt-gd-1_64.lib
libboost_coroutine-vc141-mt-gd-1_64.lib
libboost_date_time-vc141-mt-gd-1_64.lib
libboost_exception-vc141-mt-gd-1_64.lib
libboost_fiber-vc141-mt-gd-1_64.lib
libboost_filesystem-vc141-mt-gd-1_64.lib
libboost_graph-vc141-mt-gd-1_64.lib
libboost_graph_parallel-vc141-mt-gd-1_64.lib
libboost_iostreams-vc141-mt-gd-1_64.lib
libboost_locale-vc141-mt-gd-1_64.lib
libboost_log-vc141-mt-gd-1_64.lib
libboost_log_setup-vc141-mt-gd-1_64.lib
libboost_math_c99-vc141-mt-gd-1_64.lib
libboost_math_c99f-vc141-mt-gd-1_64.lib
libboost_math_c99l-vc141-mt-gd-1_64.lib
libboost_math_tr1-vc141-mt-gd-1_64.lib
libboost_math_tr1f-vc141-mt-gd-1_64.lib
libboost_math_tr1l-vc141-mt-gd-1_64.lib
libboost_mpi-vc141-mt-gd-1_64.lib
libboost_numpy3-vc141-mt-gd-1_64.lib
libboost_numpy-vc141-mt-gd-1_64.lib
libboost_prg_exec_monitor-vc141-mt-gd-1_64.lib
libboost_program_options-vc141-mt-gd-1_64.lib
libboost_python3-vc141-mt-gd-1_64.lib
libboost_python-vc141-mt-gd-1_64.lib
libboost_random-vc141-mt-gd-1_64.lib
libboost_regex-vc141-mt-gd-1_64.lib
libboost_serialization-vc141-mt-gd-1_64.lib
libboost_signals-vc141-mt-gd-1_64.lib
libboost_system-vc141-mt-gd-1_64.lib
libboost_test_exec_monitor-vc141-mt-gd-1_64.lib
libboost_thread-vc141-mt-gd-1_64.lib
libboost_timer-vc141-mt-gd-1_64.lib
libboost_type_erasure-vc141-mt-gd-1_64.lib
libboost_unit_test_framework-vc141-mt-gd-1_64.lib
libboost_wave-vc141-mt-gd-1_64.lib
libboost_wserialization-vc141-mt-gd-1_64.lib
libboost_zlib-vc141-mt-gd-1_64.lib
flann-gd.lib
flann_cpp-gd.lib
flann_cpp_s-gd.lib
flann_s-gd.lib
qhull_d.lib
qhullcpp_d.lib
qhullstatic_d.lib
qhullstatic_r_d.lib
qhull_p_d.lib
qhull_r_d.lib
vtkalglib-8.0-gd.lib
vtkChartsCore-8.0-gd.lib
vtkCommonColor-8.0-gd.lib
vtkCommonComputationalGeometry-8.0-gd.lib
vtkCommonCore-8.0-gd.lib
vtkCommonDataModel-8.0-gd.lib
vtkCommonExecutionModel-8.0-gd.lib
vtkCommonMath-8.0-gd.lib
vtkCommonMisc-8.0-gd.lib
vtkCommonSystem-8.0-gd.lib
vtkCommonTransforms-8.0-gd.lib
vtkDICOMParser-8.0-gd.lib
vtkDomainsChemistry-8.0-gd.lib
vtkDomainsChemistryOpenGL2-8.0-gd.lib
vtkexoIIc-8.0-gd.lib
vtkexpat-8.0-gd.lib
vtkFiltersAMR-8.0-gd.lib
vtkFiltersCore-8.0-gd.lib
vtkFiltersExtraction-8.0-gd.lib
vtkFiltersFlowPaths-8.0-gd.lib
vtkFiltersGeneral-8.0-gd.lib
vtkFiltersGeneric-8.0-gd.lib
vtkFiltersGeometry-8.0-gd.lib
vtkFiltersHybrid-8.0-gd.lib
vtkFiltersHyperTree-8.0-gd.lib
vtkFiltersImaging-8.0-gd.lib
vtkFiltersModeling-8.0-gd.lib
vtkFiltersParallel-8.0-gd.lib
vtkFiltersParallelImaging-8.0-gd.lib
vtkFiltersPoints-8.0-gd.lib
vtkFiltersProgrammable-8.0-gd.lib
vtkFiltersSelection-8.0-gd.lib
vtkFiltersSMP-8.0-gd.lib
vtkFiltersSources-8.0-gd.lib
vtkFiltersStatistics-8.0-gd.lib
vtkFiltersTexture-8.0-gd.lib
vtkFiltersTopology-8.0-gd.lib
vtkFiltersVerdict-8.0-gd.lib
vtkfreetype-8.0-gd.lib
vtkGeovisCore-8.0-gd.lib
vtkgl2ps-8.0-gd.lib
vtkglew-8.0-gd.lib
vtkGUISupportQt-8.0-gd.lib
vtkGUISupportQtSQL-8.0-gd.lib
vtkhdf5-8.0-gd.lib
vtkhdf5_hl-8.0-gd.lib
vtkImagingColor-8.0-gd.lib
vtkImagingCore-8.0-gd.lib
vtkImagingFourier-8.0-gd.lib
vtkImagingGeneral-8.0-gd.lib
vtkImagingHybrid-8.0-gd.lib
vtkImagingMath-8.0-gd.lib
vtkImagingMorphological-8.0-gd.lib
vtkImagingSources-8.0-gd.lib
vtkImagingStatistics-8.0-gd.lib
vtkImagingStencil-8.0-gd.lib
vtkInfovisCore-8.0-gd.lib
vtkInfovisLayout-8.0-gd.lib
vtkInteractionImage-8.0-gd.lib
vtkInteractionStyle-8.0-gd.lib
vtkInteractionWidgets-8.0-gd.lib
vtkIOAMR-8.0-gd.lib
vtkIOCore-8.0-gd.lib
vtkIOEnSight-8.0-gd.lib
vtkIOExodus-8.0-gd.lib
vtkIOExport-8.0-gd.lib
vtkIOExportOpenGL2-8.0-gd.lib
vtkIOGeometry-8.0-gd.lib
vtkIOImage-8.0-gd.lib
vtkIOImport-8.0-gd.lib
vtkIOInfovis-8.0-gd.lib
vtkIOLegacy-8.0-gd.lib
vtkIOLSDyna-8.0-gd.lib
vtkIOMINC-8.0-gd.lib
vtkIOMovie-8.0-gd.lib
vtkIONetCDF-8.0-gd.lib
vtkIOParallel-8.0-gd.lib
vtkIOParallelXML-8.0-gd.lib
vtkIOPLY-8.0-gd.lib
vtkIOSQL-8.0-gd.lib
vtkIOTecplotTable-8.0-gd.lib
vtkIOVideo-8.0-gd.lib
vtkIOXML-8.0-gd.lib
vtkIOXMLParser-8.0-gd.lib
vtkjpeg-8.0-gd.lib
vtkjsoncpp-8.0-gd.lib
vtklibharu-8.0-gd.lib
vtklibxml2-8.0-gd.lib
vtkLocalExample-8.0-gd.lib
vtklz4-8.0-gd.lib
vtkmetaio-8.0-gd.lib
vtkNetCDF-8.0-gd.lib
vtkoggtheora-8.0-gd.lib
vtkParallelCore-8.0-gd.lib
vtkpng-8.0-gd.lib
vtkproj4-8.0-gd.lib
vtkRenderingAnnotation-8.0-gd.lib
vtkRenderingContext2D-8.0-gd.lib
vtkRenderingContextOpenGL2-8.0-gd.lib
vtkRenderingCore-8.0-gd.lib
vtkRenderingFreeType-8.0-gd.lib
vtkRenderingGL2PSOpenGL2-8.0-gd.lib
vtkRenderingImage-8.0-gd.lib
vtkRenderingLabel-8.0-gd.lib
vtkRenderingLOD-8.0-gd.lib
vtkRenderingOpenGL2-8.0-gd.lib
vtkRenderingQt-8.0-gd.lib
vtkRenderingVolume-8.0-gd.lib
vtkRenderingVolumeOpenGL2-8.0-gd.lib
vtksqlite-8.0-gd.lib
vtksys-8.0-gd.lib
vtkTestingGenericBridge-8.0-gd.lib
vtkTestingIOSQL-8.0-gd.lib
vtkTestingRendering-8.0-gd.lib
vtktiff-8.0-gd.lib
vtkverdict-8.0-gd.lib
vtkViewsContext2D-8.0-gd.lib
vtkViewsCore-8.0-gd.lib
vtkViewsInfovis-8.0-gd.lib
vtkViewsQt-8.0-gd.lib
vtkzlib-8.0-gd.lib
opengl32.lib
OpenNI2.lib

QtWidgetsApplication4.cpp中代码如下：

#include "QtWidgetsApplication4.h"

#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 "QVTKWidget.h"

QtWidgetsApplication4::QtWidgetsApplication4(QWidget *parent)
    : QMainWindow(parent)
{
    ui.setupUi(this);
	
}

同时记得C:\Program Files\PCL 1.8.1\3rdParty下的vtk使用博客中所编译的debug版本，编译运行出现界面：

这边提醒下，一定要记得vtk引用的lib不要盲目的从网上去粘贴（包括我的博客中的lib库），需要根据自己版本编译出来的vtk的lib库中的文件来，开始我比较懒，直接粘贴的别人的，出现了报错：

严重性    代码    说明    项目    文件    行    禁止显示状态
错误    LNK2019    无法解析的外部符号 "__declspec(dllimport) public: __cdecl QVTKWidget::QVTKWidget(class QWidget *,class QFlags)" (__imp_??0QVTKWidget@@QEAA@PEAVQWidget@@V?$QFlags@W4WindowType@Qt@@@@@Z)，该符号在函数 "public: void __cdecl Ui_QtWidgetsApplication4Class::setupUi(class QMainWindow *)" (?setupUi@Ui_QtWidgetsApplication4Class@@QEAAXPEAVQMainWindow@@@Z) 中被引用    QtWidgetsApplication4    D:\mycode\0-PCL_VTK\test_config\QtWidgetsApplication4\QtWidgetsApplication4.obj    1    
 

后来我通过python脚本

#!/usr/bin/env python
# -*- coding: utf-8 -*-
# author：Icecream.Shao
import os
import sys

filepath= r'C:/Program Files/PCL 1.8.1/3rdParty/VTK/lib'

fileList = os.listdir(filepath)
# 输出此文件夹中包含的文件名称
print("修改前：" )
fo = open("D:/1.txt", "w")

for path in fileList:
    result = "-gd.lib" in path
    if(result):
      print(path)
      fo.write(path + "\n")

fo.close()

获得贴合我的lib库，输入到链接器的附加依赖项中就ok了，中间并不需要输入QVTKWidgetPlugin.lib

下面再搞定Release，x64版本

C:\Program Files\PCL 1.8.1\3rdParty下的vtk使用博客中所编译的release版本

包含文件和添加的库目录如debug版本配置如debug版本，添加的lib库如下：

Qt5Gui.lib
Qt5Network.lib
Qt5Widgets.lib
Qt5Core.lib
pcl_common_release.lib
pcl_features_release.lib
pcl_filters_release.lib
pcl_io_ply_release.lib
pcl_io_release.lib
pcl_kdtree_release.lib
pcl_keypoints_release.lib
pcl_ml_release.lib
pcl_octree_release.lib
pcl_outofcore_release.lib
pcl_people_release.lib
pcl_recognition_release.lib
pcl_registration_release.lib
pcl_sample_consensus_release.lib
pcl_search_release.lib
pcl_segmentation_release.lib
pcl_stereo_release.lib
pcl_surface_release.lib
pcl_tracking_release.lib
pcl_visualization_release.lib
libboost_atomic-vc141-mt-1_64.lib
libboost_bzip2-vc141-mt-1_64.lib
libboost_chrono-vc141-mt-1_64.lib
libboost_container-vc141-mt-1_64.lib
libboost_context-vc141-mt-1_64.lib
libboost_coroutine-vc141-mt-1_64.lib
libboost_date_time-vc141-mt-1_64.lib
libboost_exception-vc141-mt-1_64.lib
libboost_fiber-vc141-mt-1_64.lib
libboost_filesystem-vc141-mt-1_64.lib
libboost_graph-vc141-mt-1_64.lib
libboost_graph_parallel-vc141-mt-1_64.lib
libboost_iostreams-vc141-mt-1_64.lib
libboost_locale-vc141-mt-1_64.lib
libboost_log-vc141-mt-1_64.lib
libboost_log_setup-vc141-mt-1_64.lib
libboost_math_c99-vc141-mt-1_64.lib
libboost_math_c99f-vc141-mt-1_64.lib
libboost_math_c99l-vc141-mt-1_64.lib
libboost_math_tr1-vc141-mt-1_64.lib
libboost_math_tr1f-vc141-mt-1_64.lib
libboost_math_tr1l-vc141-mt-1_64.lib
libboost_mpi-vc141-mt-1_64.lib
libboost_numpy3-vc141-mt-1_64.lib
libboost_numpy-vc141-mt-1_64.lib
libboost_prg_exec_monitor-vc141-mt-1_64.lib
libboost_program_options-vc141-mt-1_64.lib
libboost_python3-vc141-mt-1_64.lib
libboost_python-vc141-mt-1_64.lib
libboost_random-vc141-mt-1_64.lib
libboost_regex-vc141-mt-1_64.lib
libboost_serialization-vc141-mt-1_64.lib
libboost_signals-vc141-mt-1_64.lib
libboost_system-vc141-mt-1_64.lib
libboost_test_exec_monitor-vc141-mt-1_64.lib
libboost_thread-vc141-mt-1_64.lib
libboost_timer-vc141-mt-1_64.lib
libboost_type_erasure-vc141-mt-1_64.lib
libboost_unit_test_framework-vc141-mt-1_64.lib
libboost_wave-vc141-mt-1_64.lib
libboost_wserialization-vc141-mt-1_64.lib
libboost_zlib-vc141-mt-1_64.lib
flann.lib
flann_cpp.lib
flann_cpp_s.lib
flann_s.lib
qhull.lib
qhullcpp.lib
qhullstatic.lib
qhullstatic_r.lib
qhull_p.lib
qhull_r.lib
vtkalglib-8.0.lib
vtkChartsCore-8.0.lib
vtkCommonColor-8.0.lib
vtkCommonComputationalGeometry-8.0.lib
vtkCommonCore-8.0.lib
vtkCommonDataModel-8.0.lib
vtkCommonExecutionModel-8.0.lib
vtkCommonMath-8.0.lib
vtkCommonMisc-8.0.lib
vtkCommonSystem-8.0.lib
vtkCommonTransforms-8.0.lib
vtkDICOMParser-8.0.lib
vtkDomainsChemistry-8.0.lib
vtkDomainsChemistryOpenGL2-8.0.lib
vtkexoIIc-8.0.lib
vtkexpat-8.0.lib
vtkFiltersAMR-8.0.lib
vtkFiltersCore-8.0.lib
vtkFiltersExtraction-8.0.lib
vtkFiltersFlowPaths-8.0.lib
vtkFiltersGeneral-8.0.lib
vtkFiltersGeneric-8.0.lib
vtkFiltersGeometry-8.0.lib
vtkFiltersHybrid-8.0.lib
vtkFiltersHyperTree-8.0.lib
vtkFiltersImaging-8.0.lib
vtkFiltersModeling-8.0.lib
vtkFiltersParallel-8.0.lib
vtkFiltersParallelImaging-8.0.lib
vtkFiltersPoints-8.0.lib
vtkFiltersProgrammable-8.0.lib
vtkFiltersSelection-8.0.lib
vtkFiltersSMP-8.0.lib
vtkFiltersSources-8.0.lib
vtkFiltersStatistics-8.0.lib
vtkFiltersTexture-8.0.lib
vtkFiltersTopology-8.0.lib
vtkFiltersVerdict-8.0.lib
vtkfreetype-8.0.lib
vtkGeovisCore-8.0.lib
vtkgl2ps-8.0.lib
vtkglew-8.0.lib
vtkGUISupportQt-8.0.lib
vtkGUISupportQtSQL-8.0.lib
vtkhdf5-8.0.lib
vtkhdf5_hl-8.0.lib
vtkImagingColor-8.0.lib
vtkImagingCore-8.0.lib
vtkImagingFourier-8.0.lib
vtkImagingGeneral-8.0.lib
vtkImagingHybrid-8.0.lib
vtkImagingMath-8.0.lib
vtkImagingMorphological-8.0.lib
vtkImagingSources-8.0.lib
vtkImagingStatistics-8.0.lib
vtkImagingStencil-8.0.lib
vtkInfovisCore-8.0.lib
vtkInfovisLayout-8.0.lib
vtkInteractionImage-8.0.lib
vtkInteractionStyle-8.0.lib
vtkInteractionWidgets-8.0.lib
vtkIOAMR-8.0.lib
vtkIOCore-8.0.lib
vtkIOEnSight-8.0.lib
vtkIOExodus-8.0.lib
vtkIOExport-8.0.lib
vtkIOExportOpenGL2-8.0.lib
vtkIOGeometry-8.0.lib
vtkIOImage-8.0.lib
vtkIOImport-8.0.lib
vtkIOInfovis-8.0.lib
vtkIOLegacy-8.0.lib
vtkIOLSDyna-8.0.lib
vtkIOMINC-8.0.lib
vtkIOMovie-8.0.lib
vtkIONetCDF-8.0.lib
vtkIOParallel-8.0.lib
vtkIOParallelXML-8.0.lib
vtkIOPLY-8.0.lib
vtkIOSQL-8.0.lib
vtkIOTecplotTable-8.0.lib
vtkIOVideo-8.0.lib
vtkIOXML-8.0.lib
vtkIOXMLParser-8.0.lib
vtkjpeg-8.0.lib
vtkjsoncpp-8.0.lib
vtklibharu-8.0.lib
vtklibxml2-8.0.lib
vtkLocalExample-8.0.lib
vtklz4-8.0.lib
vtkmetaio-8.0.lib
vtkNetCDF-8.0.lib
vtknetcdf_c++.lib
vtkoggtheora-8.0.lib
vtkParallelCore-8.0.lib
vtkpng-8.0.lib
vtkproj4-8.0.lib
vtkRenderingAnnotation-8.0.lib
vtkRenderingContext2D-8.0.lib
vtkRenderingContextOpenGL2-8.0.lib
vtkRenderingCore-8.0.lib
vtkRenderingFreeType-8.0.lib
vtkRenderingGL2PSOpenGL2-8.0.lib
vtkRenderingImage-8.0.lib
vtkRenderingLabel-8.0.lib
vtkRenderingLOD-8.0.lib
vtkRenderingOpenGL2-8.0.lib
vtkRenderingQt-8.0.lib
vtkRenderingVolume-8.0.lib
vtkRenderingVolumeOpenGL2-8.0.lib
vtksqlite-8.0.lib
vtksys-8.0.lib
vtkTestingGenericBridge-8.0.lib
vtkTestingIOSQL-8.0.lib
vtkTestingRendering-8.0.lib
vtktiff-8.0.lib
vtkverdict-8.0.lib
vtkViewsContext2D-8.0.lib
vtkViewsCore-8.0.lib
vtkViewsInfovis-8.0.lib
vtkViewsQt-8.0.lib
vtkzlib-8.0.lib
opengl32.lib
OpenNI2.lib

运行出现如下界面：

点云还没有显示出来，继续完善：

在GUI上添加Qbutton,界面设计如下：

QtWidgetsApplication4.h中代码如下：

#pragma once

#include 
#include "ui_QtWidgetsApplication4.h"

#include 
#include 
#include 
#include 

class QtWidgetsApplication4 : public QMainWindow
{
    Q_OBJECT

public:
    QtWidgetsApplication4(QWidget *parent = Q_NULLPTR);

private:
    Ui::QtWidgetsApplication4Class ui;
	pcl::visualization::PCLVisualizer::Ptr viewer;

private slots:
	void showPCL();
};

QtWidgetsApplication4.cpp中代码如下：

#include "QtWidgetsApplication4.h"

#include     
VTK_MODULE_INIT(vtkRenderingOpenGL2);
VTK_MODULE_INIT(vtkInteractionStyle);
VTK_MODULE_INIT(vtkRenderingFreeType);

#include  //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 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include 
#include "QVTKWidget.h"

#include 
#include 
#include 
#include  //多线程
#include 
#include
#include
#include//pcd 读写类相关的头文件。
#include
#include
#include //PCL中支持的点类型头文件。
#include 
#include 
#include 
#include 
#include   
#include   
#include   
#include 
#include 
#include 
#include  //ICP(iterative closest point)配准
#include 
#include 
#include 
#include 
using namespace pcl;
using namespace pcl::io;
using namespace std;

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

QtWidgetsApplication4::QtWidgetsApplication4(QWidget *parent)
    : QMainWindow(parent)
{
    ui.setupUi(this);

	viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));
	ui.qvtkWidget->SetRenderWindow(viewer->getRenderWindow());
	viewer->setupInteractor(ui.qvtkWidget->GetInteractor(), ui.qvtkWidget->GetRenderWindow());
	ui.qvtkWidget->update();
}

void QtWidgetsApplication4::showPCL()
{
	pcl::PointCloud::Ptr cloud(new pcl::PointCloud);
	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);

}

确认下环境变量里有无添加如下红色下划线标记的路径

在debug和release模式下编译都可以显示出界面：