中國人真是太不知道分享了，看看這個老外的博客，啟發性鏈接。

???? ?? http://www.pcl-users.org/

1. 這個是可用的源代碼： 原文：I saw a thread with links to a non-vtk qt visualizer of pcl pointclouds, but I want to reuse as much of PCLVisualizer as possible and minimize novel code. ?My hacky solution is below but it suffers from the problem of creating an unused non-qt window in addition to the desired qt window that displays the point cloud and accepts mouse input. I'd be fine with figuring out how to suppress that window or at least close it soon after it opens?(though not if it requires changing vtk code), but a another solution might be to break out what addPointCloud() & fromHandlersToScreen() are doing into accessible utility functions. Any suggestions for how to proceed? ? Thanks, -Lucas? I installed QVTKWidget on Ubuntu with the package libvtk5-qt4-dev.
I added this to PCLVisualizer:
vtkSmartPointer<vtkRenderWindow> getRenderWindow() {
? return win_;
}

and my code looks like this (it's based off?http://www.itk.org/Wiki/VTK/Examples/Cxx/Qt/RenderWindowNoUiFile): ///使用RenderWindow The complete modified source:
#include <QApplication>#include <pcl/io/pcd_io.h>#include <pcl/features/normal_3d.h>#include <pcl/sample_consensus/sac_model_plane.h>#include <pcl/visualization/cloud_viewer.h>#include <pcl/common/common.h>#include <QVTKWidget.h>int main(int argc, char** argv){QApplication app(argc, argv);QVTKWidget widget;widget.resize(512, 256);{pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_xyz (new pcl::PointCloud<pcl::PointXYZ>);{for (float y = -0.5f; y <= 0.5f; y += 0.01f){for (float z = -0.5f; z <= 0.5f; z += 0.01f){pcl::PointXYZ point;point.x = 2.0f - y;point.y = y;point.z = z;cloud_xyz->points.push_back (point);}}cloud_xyz->width = cloud_xyz->points.size ();cloud_xyz->height = 1;}// this creates and displays a window named "test_viz"// upon calling PCLVisualizerInteractor interactor_->Initialize ();// how to disable that?pcl::visualization::PCLVisualizer pviz ("test_viz", false);// not sure why but it is necessary to set the render window before modifying pvizvtkSmartPointer<vtkRenderWindow> renderWindow = pviz.getRenderWindow ();widget.SetRenderWindow (renderWindow);// these are useful to add to make the controls more like pcd_viewerpviz.setupInteractor (widget.GetInteractor (), widget.GetRenderWindow ());pviz.getInteractorStyle ()->setKeyboardModifier (pcl::visualization::INTERACTOR_KB_MOD_SHIFT);pviz.addPointCloud<pcl::PointXYZ>(cloud_xyz);pviz.setBackgroundColor(0, 0, 0.1);}widget.show();app.exec();return EXIT_SUCCESS;}

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出現的錯誤：

c:\Dev\VTK5.8.0\include\vtk-5.8\vtkSmartPointer.h:75: 錯誤:C2440: “static_cast”: 無法從“vtkObjectBase *const ”轉換為“vtkRenderWindow *”
與指向的類型無關；轉換要求 reinterpret_cast、C 樣式轉換或函數樣式轉換
c:\Dev\VTK5.8.0\include\vtk-5.8\vtkSmartPointer.h(74): 編譯類 模板 成員函數“vtkSmartPointer<T>::operator T(void) const”時

with [T=vtkRenderWindow ] c:\PCL_1.7.1\include\pcl/visualization/common/ren_win_interact_map.h(70): 參見對正在編譯的類 模板 實例化“vtkSmartPointer<T>”的引用 with [T=vtkRenderWindow ]

2.這個可以實現JPEG圖像讀取顯示

原文：RenderWindowNoUiFile.cxx

#include <QApplication>#include <vtkSmartPointer.h> #include <vtkSphereSource.h> #include <vtkPolyDataMapper.h> #include <vtkActor.h> #include <vtkImageViewer.h> #include <vtkRenderWindowInteractor.h> #include <vtkInteractorStyleImage.h> #include <vtkRenderer.h> #include <vtkJPEGReader.h>#include <QVTKWidget.h>int main(int argc, char** argv) {QApplication app(argc, argv);QVTKWidget widget;widget.resize(256,256);// Setup spherevtkSmartPointer<vtkSphereSource> sphereSource = vtkSmartPointer<vtkSphereSource>::New();sphereSource->Update();vtkSmartPointer<vtkPolyDataMapper> sphereMapper = vtkSmartPointer<vtkPolyDataMapper>::New();sphereMapper->SetInputConnection(sphereSource->GetOutputPort());vtkSmartPointer<vtkActor> sphereActor = vtkSmartPointer<vtkActor>::New();sphereActor->SetMapper(sphereMapper);// Setup windowvtkSmartPointer<vtkRenderWindow> renderWindow = vtkSmartPointer<vtkRenderWindow>::New();// Setup renderervtkSmartPointer<vtkRenderer> renderer = vtkSmartPointer<vtkRenderer>::New();renderWindow->AddRenderer(renderer);renderer->AddActor(sphereActor);renderer->ResetCamera();widget.SetRenderWindow(renderWindow);widget.show();app.exec();return EXIT_SUCCESS; }CMakeLists.txtcmake_minimum_required(VERSION 2.8)if(POLICY CMP0020)cmake_policy(SET CMP0020 NEW) endif()PROJECT(RenderWindowNoUiFile)find_package(VTK REQUIRED) include(${VTK_USE_FILE})if(${VTK_VERSION} VERSION_GREATER "6" AND VTK_QT_VERSION VERSION_GREATER "4")# Instruct CMake to run moc automatically when needed.set(CMAKE_AUTOMOC ON)find_package(Qt5Widgets REQUIRED QUIET) else()find_package(Qt4 REQUIRED)include(${QT_USE_FILE}) endif()include_directories(${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_BINARY_DIR})file(GLOB UI_FILES *.ui) file(GLOB QT_WRAP *.h) file(GLOB CXX_FILES *.cxx)if(${VTK_VERSION} VERSION_GREATER "6" AND VTK_QT_VERSION VERSION_GREATER "4")qt5_wrap_ui(UISrcs ${UI_FILES} )# CMAKE_AUTOMOC in ON so the MocHdrs will be automatically wrapped.add_executable(RenderWindowNoUiFile MACOSX_BUNDLE${CXX_FILES} ${UISrcs} ${QT_WRAP})qt5_use_modules(RenderWindowNoUiFile Core Gui)target_link_libraries(RenderWindowNoUiFile ${VTK_LIBRARIES}) else()QT4_WRAP_UI(UISrcs ${UI_FILES})QT4_WRAP_CPP(MOCSrcs ${QT_WRAP})add_executable(RenderWindowNoUiFile MACOSX_BUNDLE ${CXX_FILES} ${UISrcs} ${MOCSrcs})if(VTK_LIBRARIES)if(${VTK_VERSION} VERSION_LESS "6")target_link_libraries(RenderWindowNoUiFile ${VTK_LIBRARIES} QVTK)else()target_link_libraries(RenderWindowNoUiFile ${VTK_LIBRARIES})endif()else()target_link_libraries(RenderWindowNoUiFile vtkHybrid QVTK vtkViews ${QT_LIBRARIES})endif() endif()

Download and Build RenderWindowNoUiFile

Click here to download RenderWindowNoUiFile. and its CMakeLists.txt file.

Once the tarball RenderWindowNoUiFile.tar has been downloaded and extracted,

cd RenderWindowNoUiFile/build

This example requires Qt and VTK.

• If VTK and Qt are installed:

cmake ..

• If VTK is not installed but compiled on your system, you will need to specify the path to your VTK build:

cmake -DVTK_DIR:PATH=/home/me/vtk_build ..

• If Qt is not found on your system, you will need to tell CMake where to find qmake:

cmake -DQT_QMAKE_EXECUTABLE:FILEPATH=/usr/something/qmake ..

Build the project:

make

and run it:

./RenderWindowNoUiFile

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