????????? VTK作為醫(yī)學顯示庫，得到較多使用。作為較為上層的設計，對OpenGL進行了封裝，并且有Windows、Linux、安卓等開發(fā)版本，可移植性較強。

????????? 不過VES暫時沒有編譯成功。

????????? 以下是嵌入MFC-IDC代碼，有個缺陷，暫時沒能修改。

代碼：

showPointsInVtk(short* &depthImage, int HeightDepth, int WidthDepth,int IDCX) {//double arr[3];vtkPoints * points = vtkPoints::New();int n = 0; int idx = 0; int Length = 3 * HeightDepth*WidthDepth;//首先讀取點云數(shù)據(jù)到點表points同時指定點對應的id:for (int i = 0; i < HeightDepth; ++i){int LastPixel = i* WidthDepth;for (int j = 0; j < WidthDepth; ++j){int y = depthImage[3 * (j + LastPixel)];int x = depthImage[3 * (j + LastPixel) +1];int z = depthImage[3 * (j + LastPixel) +2];points->InsertPoint(n, x, y, z);n++;}}printf("%d\n", n);vtkPolyVertex * polyvertex = vtkPolyVertex::New();polyvertex->GetPointIds()->SetNumberOfIds(n);int i = 0; //建立拓撲關系for (i = 0; i < n; i++){polyvertex->GetPointIds()->SetId(i, i);}vtkUnstructuredGrid * grid = vtkUnstructuredGrid::New();grid->SetPoints(points);grid->InsertNextCell(polyvertex->GetCellType(),polyvertex->GetPointIds());vtkDataSetMapper *map1 = vtkDataSetMapper::New();map1->SetInputData(grid);vtkActor *actor1 = vtkActor::New();actor1->SetMapper(map1);actor1->GetProperty()->SetColor(0.194, 0.562, 0.75);vtkRenderer *ren = vtkRenderer::New();ren->AddActor(actor1);ren->SetBackground(0, 0, 0);//renWin和iren分別是vtkWin32OpenGLRenderWindow, vtkWin32RenderWindowInteractorvtkWin32RenderWindowInteractor *iren = vtkWin32RenderWindowInteractor::New();vtkWin32OpenGLRenderWindow *win = vtkWin32OpenGLRenderWindow::New();vtkInteractorStyleTrackballCamera *style = vtkInteractorStyleTrackballCamera::New();win->Clean();win->SetSize(480, 360);win->BordersOn();win->AddRenderer(ren);iren->SetRenderWindow(win);iren->SetInteractorStyle(style);//搭上一個顯示用的MFC窗口框架。CWnd *viewer_Wnd;viewer_Wnd = this->GetDlgItem(IDCX); HWND hWnd = (HWND)viewer_Wnd->m_hWnd;HWND hParent = ::GetParent(hWnd);//::ShowWindow(hParent, SW_HIDE);::ShowWindow(hParent, 1);win->SetParentId(this->m_hWnd);iren->Start();map1->Delete();grid->Delete();actor1->Delete();polyvertex->Delete();ren->Delete();win->Delete();iren->Delete();return 1; }

顯示效果：

?

?注意事項：

使用

iren->Start();導致renter不能更行，修改為以下代碼可以完成動態(tài)更新：

把?render和win放在初始對話框初始化，其他代碼修改為：

this->win->Render();

//在 對話框初始化時初始化Render inline int Ciisu2vrMfcsDlg::showPointsInVtkG(short* &depthImage, int HeightDepth, int WidthDepth, int IDCX) {//double arr[3];vtkPoints * points = vtkPoints::New();int n = 0; int idx = 0; int Length = 3 * HeightDepth*WidthDepth;//首先讀取點云數(shù)據(jù)到點表points同時指定點對應的id:for (int i = 0; i < HeightDepth; ++i){int LastPixel = i* WidthDepth;for (int j = 0; j < WidthDepth; ++j){int y = depthImage[3 * (j + LastPixel)];int x = depthImage[3 * (j + LastPixel) + 1];int z = depthImage[3 * (j + LastPixel) + 2];//這里壓縮四倍是比較好的方法//int z = (depthImage[(j + LastPixel)]) ;points->InsertPoint(n, x, y, z);n++;}}vtkPolyVertex * polyvertex = vtkPolyVertex::New();polyvertex->GetPointIds()->SetNumberOfIds(n);int i = 0;//建立拓撲關系for (i = 0; i < n; i++){polyvertex->GetPointIds()->SetId(i, i);}vtkUnstructuredGrid * grid = vtkUnstructuredGrid::New();grid->SetPoints(points);grid->InsertNextCell(polyvertex->GetCellType(),polyvertex->GetPointIds() );vtkDataSetMapper *map = vtkDataSetMapper::New();map->SetInputData(grid);vtkActor *actorG = vtkActor::New();actorG->SetMapper(map);actorG->GetProperty()->SetColor(0.194, 0.562, 0.75);vtkRenderer *ren = vtkRenderer::New();ren->AddActor(actorG);ren->SetBackground(0.13, 0.40, 0.15);this->win->AddRenderer(ren);this->win->Render();//自己寫一個重載-更新函數(shù)！map->Delete();grid->Delete();actorG->Delete();polyvertex->Delete();return 1; }

后記：

??????? 效果還不錯，就是和OpenCV結合時有點麻煩，命名空間沖突。

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