這是PCL文檔中的例程實現，原文地址：http://pointclouds.org/documentation/tutorials/qt_visualizer.php#more-on-qt-and-pcl

介紹一下環境：Ubuntu16.04 + Qt5.8 + PCL1.8.1 + VTK7.1.1

配置環境見另一篇文章。

UI部分：

只允許在QtDesigner中修改

圖片左上角第一個圖標：Edit Wdigets模式

組件名：

ＨorizontalSlider

LCD Number

Push Button

QVTKWidget

點擊slider，右下角屬性修改最大最小值。

左上角第二個圖標：Edit Signals/Slots模式

點擊slider 拖動到LCD Number彈出函數選擇窗口，選擇sliderMoved(int)->display(int)

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代碼部分

頭文件pclviewer.h

#ifndef PCLVIEWER_H #define PCLVIEWER_H#include <QMainWindow> #include <pcl/point_cloud.h> #include <pcl/point_types.h> #include <pcl/visualization/pcl_visualizer.h> //qvtk #include<vtkRenderWindow.h>namespace Ui { class PCLViewer; }class PCLViewer : public QMainWindow {Q_OBJECTpublic:explicit PCLViewer(QWidget *parent = 0);~PCLViewer();/***信號/槽　函數聲明*/ public Q_SLOTS://隨機顏色按鈕點擊響應方法void randomButtonPressed ();//ＲＧＢ顏色條值變更響應void RGBsliderReleased ();//點云大小滑動條值變更響應void pSliderValueChanged (int value);//Red值滑動響應void redSliderValueChanged (int value);//Green值滑動響應void greenSliderValueChanged (int value);//Blue值滑動響應void blueSliderValueChanged (int value);protected://聲明視窗boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;//聲明點云指針pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud;//RGB三色值變量unsigned int red;unsigned int green;unsigned int blue;private:Ui::PCLViewer *ui; };#endif // PCLVIEWER_H

pclviewer.cpp

#include "pclviewer.h" #include "ui_pclviewer.h"PCLViewer::PCLViewer(QWidget *parent) :QMainWindow(parent),ui(new Ui::PCLViewer) {ui->setupUi(this);this->setWindowTitle("PCL Viewer");//初始化點云cloud.reset(new pcl::PointCloud<pcl::PointXYZRGBA>);//設置點云大小cloud->points.resize(200);//默認顏色red = 128;green = 128;blue = 128;//填充點云for (size_t i = 0; i < cloud->points.size (); ++i){cloud->points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);cloud->points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);cloud->points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);cloud->points[i].r = red;cloud->points[i].g = green;cloud->points[i].b = blue;}//設置QVTK窗口viewer.reset(new pcl::visualization::PCLVisualizer("view", false));ui->qvtkWidget->SetRenderWindow(viewer->getRenderWindow());viewer->setupInteractor (ui->qvtkWidget->GetInteractor (), ui->qvtkWidget->GetRenderWindow ());//關聯點云到viewerviewer->addPointCloud(cloud, "cloud");ui->qvtkWidget->update ();// Connect "random" button and the functionconnect (ui->pushButton_random, SIGNAL (clicked ()), this, SLOT (randomButtonPressed ()));// Connect R,G,B sliders and their functionsconnect (ui->horizontalSlider_R, SIGNAL (valueChanged (int)), this, SLOT (redSliderValueChanged (int)));connect (ui->horizontalSlider_G, SIGNAL (valueChanged (int)), this, SLOT (greenSliderValueChanged (int)));connect (ui->horizontalSlider_B, SIGNAL (valueChanged (int)), this, SLOT (blueSliderValueChanged(int)));connect (ui->horizontalSlider_R, SIGNAL (sliderReleased ()), this, SLOT (RGBsliderReleased ()));connect (ui->horizontalSlider_G, SIGNAL (sliderReleased ()), this, SLOT (RGBsliderReleased ()));connect (ui->horizontalSlider_B, SIGNAL (sliderReleased ()), this, SLOT (RGBsliderReleased ()));// Connect point size sliderconnect (ui->horizontalSlider_P, SIGNAL (valueChanged (int)), this, SLOT (pSliderValueChanged (int)));pSliderValueChanged (2);viewer->resetCamera ();ui->qvtkWidget->update ();}void PCLViewer::randomButtonPressed () {printf ("Random button was pressed\n");// Set the new colorfor (size_t i = 0; i < cloud->size(); i++){cloud->points[i].r = 255 *(1024 * rand () / (RAND_MAX + 1.0f));cloud->points[i].g = 255 *(1024 * rand () / (RAND_MAX + 1.0f));cloud->points[i].b = 255 *(1024 * rand () / (RAND_MAX + 1.0f));}//點云顏色改變，在viewer中更新viewer->updatePointCloud (cloud, "cloud");//更新qvtkui->qvtkWidget->update (); }void PCLViewer::RGBsliderReleased () {// Set the new colorfor (size_t i = 0; i < cloud->size (); i++){cloud->points[i].r = red;cloud->points[i].g = green;cloud->points[i].b = blue;}viewer->updatePointCloud (cloud, "cloud");ui->qvtkWidget->update (); }void PCLViewer::redSliderValueChanged (int value) {red = value;printf ("redSliderValueChanged: [%d|%d|%d]\n", red, green, blue); }void PCLViewer::greenSliderValueChanged (int value) {green = value;printf ("greenSliderValueChanged: [%d|%d|%d]\n", red, green, blue); }void PCLViewer::blueSliderValueChanged (int value) {blue = value;printf("blueSliderValueChanged: [%d|%d|%d]\n", red, green, blue); }void PCLViewer::pSliderValueChanged (int value) {//改變點云大小viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, value, "cloud");viewer->updatePointCloud (cloud, "cloud");ui->qvtkWidget->update ();printf("pSliderValueChanged: [%d]\n", value); }PCLViewer::~PCLViewer() {delete ui; }

效果圖：隨機顏色

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