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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！