QT + vtk8.0显示点云数据_qt+vtk+pcl实现点云可视化

1、创建Widget项目;

2、在main.cpp中添加代码：

#include <vtkAutoInit.h>
VTK_MODULE_INIT(vtkRenderingOpenGL);
VTK_MODULE_INIT(vtkInteractionStyle);

3、Widget.cpp代码如下：

#include "widget.h"
#include "ui_widget.h"
#include <vtkSmartPointer.h>
#include <vtkSimplePointsReader.h>
#include <vtkPolyDataMapper.h>
#include <vtkActor.h>
#include <vtkProperty.h>
#include <vtkRenderer.h>
#include <vtkRenderWindow.h>
#include <vtkRenderWindowInteractor.h>
 
#include <vtkVersion.h>
#include <vtkSmartPointer.h>
#include <vtkPoints.h>
#include <vtkVertexGlyphFilter.h>
#include <vtkPolyDataMapper.h>
#include <vtkActor.h>
#include <vtkRenderer.h>
#include <vtkRenderWindow.h>
#include <vtkRenderWindowInteractor.h>
 
#include <sstream>
 
Widget::Widget(QWidget *parent) :
    QWidget(parent),
    ui(new Ui::Widget)
{
    ui->setupUi(this);
 
    std::string filename = "test6.txt";
    std::ifstream filestream(filename.c_str());
 
    std::string line;
    vtkSmartPointer<vtkPoints> points =
    vtkSmartPointer<vtkPoints>::New();
    while (std::getline(filestream, line))
    {
        double x, y, z;
        std::stringstream linestream;
        linestream << line;
        linestream >> x >> y >> z;
        printf("x = %f\n", x);
        printf("y = %f\n", y);
        printf("z = %f\n", z);
        points->InsertNextPoint(x, y, z);
      }
 
      filestream.close();
      vtkSmartPointer<vtkPolyData> polyData =
            vtkSmartPointer<vtkPolyData>::New();
 
        polyData->SetPoints(points);
        vtkSmartPointer<vtkVertexGlyphFilter> glyphFilter =
            vtkSmartPointer<vtkVertexGlyphFilter>::New();
    #if VTK_MAJOR_VERSION <= 5
        glyphFilter->SetInputConnection(polyData->GetProducerPort());
    #else
        glyphFilter->SetInputData(polyData);
    #endif
        glyphFilter->Update();
 
        vtkSmartPointer<vtkPolyDataMapper> mapper =
            vtkSmartPointer<vtkPolyDataMapper>::New();
        mapper->SetInputConnection(glyphFilter->GetOutputPort());
 
        vtkSmartPointer<vtkActor> actor =
            vtkSmartPointer<vtkActor>::New();
        actor->SetMapper(mapper);
 
        vtkSmartPointer<vtkRenderer> renderer =
            vtkSmartPointer<vtkRenderer>::New();
        renderer->AddActor(actor);
        renderer->SetBackground(.1, .1, .1);
        ui->qvtkWidget->GetRenderWindow()->AddRenderer(renderer);
}
 
Widget::~Widget()
{
    delete ui;
}

4、显示效果如下：