在c++MFC下用PCL顯示操作點雲檔案 MFC對話方塊顯示操作PCL點雲
原文作者:aircraft
原文地址:https://www.cnblogs.com/DOMLX/p/13115873.html
第一步 下載PCL庫 我的版本是1.8.1的
你都要MFC下跑PCL了 你不會不知道怎麼下載吧 ( 不會吧 不會吧 不會有人真的不知道怎麼下載吧。。。)
第二步 新建一個MFC對話方塊程式(這個不要人教的把 )
開啟VS2017 新建專案-MFC應用程式-基於對話方塊
第三步 配置PCL
點開屬性管理器 debugx64下新建一個屬性頁命名PCL_ALLINONE (因為我是debug x64 你們32就32咯)
然後右鍵開啟其屬性
在包含目錄編輯 將自己的PCL庫包含 注意找你們自己PCL的路徑 這個要是來問我 我不錘爆你們的狗頭!!!!
庫目錄包含
在到連結器-》輸入-》附加依賴項包含自己PCL庫的lib檔名字
(注意!!!如果你們庫跟我一樣可以直接用我的) 如果不一樣 那麼到相應的lib庫檔案位置 開啟cmd 然後用命令列將檔名都輸入到一個檔案儲存就行了 好像是 dir \b >>1.txt (不太記得了 然後複製裡面lib結尾的名字貼上就行了)
vtknetcdf_c++-gd.lib pcl_common_debug.lib pcl_features_debug.lib pcl_filters_debug.lib pcl_io_ply_debug.lib pcl_io_debug.lib pcl_kdtree_debug.lib pcl_keypoints_debug.lib pcl_ml_debug.lib pcl_octree_debug.lib pcl_outofcore_debug.lib pcl_people_debug.lib pcl_recognition_debug.lib pcl_registration_debug.lib pcl_sample_consensus_debug.lib pcl_search_debug.lib pcl_segmentation_debug.lib pcl_stereo_debug.lib pcl_surface_debug.lib pcl_tracking_debug.lib pcl_visualization_debug.lib libboost_atomic-vc141-mt-gd-1_64.lib libboost_bzip2-vc141-mt-gd-1_64.lib libboost_chrono-vc141-mt-gd-1_64.lib libboost_container-vc141-mt-gd-1_64.lib libboost_context-vc141-mt-gd-1_64.lib libboost_coroutine-vc141-mt-gd-1_64.lib libboost_date_time-vc141-mt-gd-1_64.lib libboost_exception-vc141-mt-gd-1_64.lib libboost_fiber-vc141-mt-gd-1_64.lib libboost_filesystem-vc141-mt-gd-1_64.lib libboost_graph-vc141-mt-gd-1_64.lib libboost_graph_parallel-vc141-mt-gd-1_64.lib libboost_iostreams-vc141-mt-gd-1_64.lib libboost_locale-vc141-mt-gd-1_64.lib libboost_log-vc141-mt-gd-1_64.lib libboost_log_setup-vc141-mt-gd-1_64.lib libboost_math_c99-vc141-mt-gd-1_64.lib libboost_math_c99f-vc141-mt-gd-1_64.lib libboost_math_c99l-vc141-mt-gd-1_64.lib libboost_math_tr1-vc141-mt-gd-1_64.lib libboost_math_tr1f-vc141-mt-gd-1_64.lib libboost_math_tr1l-vc141-mt-gd-1_64.lib libboost_mpi-vc141-mt-gd-1_64.lib libboost_numpy3-vc141-mt-gd-1_64.lib libboost_numpy-vc141-mt-gd-1_64.lib libboost_prg_exec_monitor-vc141-mt-gd-1_64.lib libboost_program_options-vc141-mt-gd-1_64.lib libboost_python3-vc141-mt-gd-1_64.lib libboost_python-vc141-mt-gd-1_64.lib libboost_random-vc141-mt-gd-1_64.lib libboost_regex-vc141-mt-gd-1_64.lib libboost_serialization-vc141-mt-gd-1_64.lib libboost_signals-vc141-mt-gd-1_64.lib libboost_system-vc141-mt-gd-1_64.lib libboost_test_exec_monitor-vc141-mt-gd-1_64.lib libboost_thread-vc141-mt-gd-1_64.lib libboost_timer-vc141-mt-gd-1_64.lib libboost_type_erasure-vc141-mt-gd-1_64.lib libboost_unit_test_framework-vc141-mt-gd-1_64.lib libboost_wave-vc141-mt-gd-1_64.lib libboost_wserialization-vc141-mt-gd-1_64.lib libboost_zlib-vc141-mt-gd-1_64.lib flann-gd.lib flann_cpp-gd.lib flann_cpp_s-gd.lib flann_s-gd.lib qhull_d.lib qhullcpp_d.lib qhullstatic_d.lib qhullstatic_r_d.lib qhull_p_d.lib qhull_r_d.lib vtkalglib-8.0-gd.lib vtkChartsCore-8.0-gd.lib vtkCommonColor-8.0-gd.lib vtkCommonComputationalGeometry-8.0-gd.lib vtkCommonCore-8.0-gd.lib vtkCommonDataModel-8.0-gd.lib vtkCommonExecutionModel-8.0-gd.lib vtkCommonMath-8.0-gd.lib vtkCommonMisc-8.0-gd.lib vtkCommonSystem-8.0-gd.lib vtkCommonTransforms-8.0-gd.lib vtkDICOMParser-8.0-gd.lib vtkDomainsChemistry-8.0-gd.lib vtkexoIIc-8.0-gd.lib vtkexpat-8.0-gd.lib vtkFiltersAMR-8.0-gd.lib vtkFiltersCore-8.0-gd.lib vtkFiltersExtraction-8.0-gd.lib vtkFiltersFlowPaths-8.0-gd.lib vtkFiltersGeneral-8.0-gd.lib vtkFiltersGeneric-8.0-gd.lib vtkFiltersGeometry-8.0-gd.lib vtkFiltersHybrid-8.0-gd.lib vtkFiltersHyperTree-8.0-gd.lib vtkFiltersImaging-8.0-gd.lib vtkFiltersModeling-8.0-gd.lib vtkFiltersParallel-8.0-gd.lib vtkFiltersParallelImaging-8.0-gd.lib vtkFiltersPoints-8.0-gd.lib vtkFiltersProgrammable-8.0-gd.lib vtkFiltersSelection-8.0-gd.lib vtkFiltersSMP-8.0-gd.lib vtkFiltersSources-8.0-gd.lib vtkFiltersStatistics-8.0-gd.lib vtkFiltersTexture-8.0-gd.lib vtkFiltersTopology-8.0-gd.lib vtkFiltersVerdict-8.0-gd.lib vtkfreetype-8.0-gd.lib vtkGeovisCore-8.0-gd.lib vtkgl2ps-8.0-gd.lib vtkhdf5-8.0-gd.lib vtkhdf5_hl-8.0-gd.lib vtkImagingColor-8.0-gd.lib vtkImagingCore-8.0-gd.lib vtkImagingFourier-8.0-gd.lib vtkImagingGeneral-8.0-gd.lib vtkImagingHybrid-8.0-gd.lib vtkImagingMath-8.0-gd.lib vtkImagingMorphological-8.0-gd.lib vtkImagingSources-8.0-gd.lib vtkImagingStatistics-8.0-gd.lib vtkImagingStencil-8.0-gd.lib vtkInfovisCore-8.0-gd.lib vtkInfovisLayout-8.0-gd.lib vtkInteractionImage-8.0-gd.lib vtkInteractionStyle-8.0-gd.lib vtkInteractionWidgets-8.0-gd.lib vtkIOAMR-8.0-gd.lib vtkIOCore-8.0-gd.lib vtkIOEnSight-8.0-gd.lib vtkIOExodus-8.0-gd.lib vtkIOExport-8.0-gd.lib vtkIOExportOpenGL-8.0-gd.lib vtkIOGeometry-8.0-gd.lib vtkIOImage-8.0-gd.lib vtkIOImport-8.0-gd.lib vtkIOInfovis-8.0-gd.lib vtkIOLegacy-8.0-gd.lib vtkIOLSDyna-8.0-gd.lib vtkIOMINC-8.0-gd.lib vtkIOMovie-8.0-gd.lib vtkIONetCDF-8.0-gd.lib vtkIOParallel-8.0-gd.lib vtkIOParallelXML-8.0-gd.lib vtkIOPLY-8.0-gd.lib vtkIOSQL-8.0-gd.lib vtkIOTecplotTable-8.0-gd.lib vtkIOVideo-8.0-gd.lib vtkIOXML-8.0-gd.lib vtkIOXMLParser-8.0-gd.lib vtkjpeg-8.0-gd.lib vtkjsoncpp-8.0-gd.lib vtklibharu-8.0-gd.lib vtklibxml2-8.0-gd.lib vtklz4-8.0-gd.lib vtkmetaio-8.0-gd.lib vtkNetCDF-8.0-gd.lib vtkoggtheora-8.0-gd.lib vtkParallelCore-8.0-gd.lib vtkpng-8.0-gd.lib vtkproj4-8.0-gd.lib vtkRenderingAnnotation-8.0-gd.lib vtkRenderingContext2D-8.0-gd.lib vtkRenderingContextOpenGL-8.0-gd.lib vtkRenderingCore-8.0-gd.lib vtkRenderingFreeType-8.0-gd.lib vtkRenderingGL2PS-8.0-gd.lib vtkRenderingImage-8.0-gd.lib vtkRenderingLabel-8.0-gd.lib vtkRenderingLIC-8.0-gd.lib vtkRenderingLOD-8.0-gd.lib vtkRenderingOpenGL-8.0-gd.lib vtkRenderingVolume-8.0-gd.lib vtkRenderingVolumeOpenGL-8.0-gd.lib vtksqlite-8.0-gd.lib vtksys-8.0-gd.lib vtktiff-8.0-gd.lib vtkverdict-8.0-gd.lib vtkViewsContext2D-8.0-gd.lib vtkViewsCore-8.0-gd.lib vtkViewsInfovis-8.0-gd.lib vtkzlib-8.0-gd.lib opengl32.lib
配置完畢 以後其他mfc就不用重複配置 將這個配置檔案PCL_ALLINONG複製新增就行了
第四步 編輯程式碼
編輯對話方塊 新增一個pictrue_control控制元件 改ID為IDC_PCDVIEW 新增一個按鈕改名為openFILE
雙擊openFile按鈕進入按鈕事件編輯 貼上程式碼:
CString strFile = _T(""); CFileDialog dlgFile(TRUE, NULL, NULL, OFN_HIDEREADONLY, _T("Describe Files (*.pcd)|*.pcd|All Files (*.*)|*.*||"), NULL); if (dlgFile.DoModal()) { strFile = dlgFile.GetPathName(); //Cstring 轉string CString theCStr; std::string STDStr(CW2A(strFile.GetString())); pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>); if (pcl::io::loadPCDFile<pcl::PointXYZ>(STDStr, *cloud) == -1)//*開啟點雲檔案 { AfxMessageBox(_T("讀入點雲資料失敗")); } m_viewer->removeAllPointClouds();//將前一次點雲移除 pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(cloud, 0, 255, 0); m_viewer->addPointCloud<pcl::PointXYZ >(cloud, single_color, "sample cloud"); }
程式碼就是開啟檔案選取PCD點雲 然後顯示
在 某某某dlg.h下新增標頭檔案
#include <pcl/console/parse.h> #include <pcl/io/io.h> #include <pcl/io/pcd_io.h> #include <pcl/point_types.h> #include <pcl/common/io.h> #include <pcl/visualization/pcl_visualizer.h> //vtk #include <vtkRenderWindow.h> #include <vtkRenderWindowInteractor.h> #include "vtkAutoInit.h" VTK_MODULE_INIT(vtkRenderingOpenGL); // VTK was built with vtkRenderingOpenGL2 VTK_MODULE_INIT(vtkInteractionStyle);
並且在這個dlg.h的檔案類裡新增:
private: boost::shared_ptr<pcl::visualization::PCLVisualizer> m_viewer;//要共享指標型別的,要不然,顯示視窗會跳出MFC介面 vtkRenderWindow* m_win; //vtk渲染的視窗控制代碼 vtkRenderWindowInteractor* m_iren;//vtk互動的物件
然後在dlg.cpp檔案的OnInitDialog()初始化函式下新增: (函式裡的直接複製過去就行了 畢竟我工程名字亂打的)
BOOL CMFCApplication3Dlg::OnInitDialog() { CDialogEx::OnInitDialog(); // 設定此對話方塊的圖示。 當應用程式主視窗不是對話方塊時,框架將自動 // 執行此操作 SetIcon(m_hIcon, TRUE); // 設定大圖示 SetIcon(m_hIcon, FALSE); // 設定小圖示 // TODO: 在此新增額外的初始化程式碼 //pcl顯示視窗初始化 m_viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));//初始化viewer物件 m_viewer->addCoordinateSystem(); //設定對應的座標系 m_viewer->setBackgroundColor(0, 0, 0);//設定背景顏色 m_viewer->initCameraParameters();//初始化相機的引數 m_win = m_viewer->getRenderWindow();//將view中的渲染視窗的控制代碼傳遞給vtk window m_iren = vtkRenderWindowInteractor::New(); //初始化vtkwindow互動的物件 m_viewer->resetCamera();//使點雲顯示在螢幕中間,並繞中心操作 CRect rect; GetClientRect(&rect);//實時獲取MFC視窗大小 m_win->SetSize(rect.right - rect.left, rect.bottom - rect.top);//根據當前視窗的大小設定vtk 視窗的大小 CWnd *viewer_pcWnd; viewer_pcWnd = this->GetDlgItem(IDC_PCDVIEW);//獲取對應的wnd m_win->SetParentId(viewer_pcWnd->m_hWnd);//設定vtk視窗的控制代碼 m_iren->SetRenderWindow(m_win);//將vtk互動物件與vtk window繫結 m_viewer->createInteractor(); m_win->Render();//開始渲染 return TRUE; // 除非將焦點設定到控制元件,否則返回 TRUE }
最後結果
執行點選開啟選了一個bunny.pcd開啟顯示這樣 就這麼簡單搞定了 根本不需要網上的其他什麼MFC教程 又要cmake編譯啊 又要單文件得 (TMen都是呆子)
(bunny.pcd檔案不要找我拿 你都要顯示點雲了 一個點雲檔案沒有?那你心裡可能沒有點B數啊)
如果你們編譯執行錯誤 自己複製錯誤去百度啊 難道來問我 難道我知道?
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