├── Point_Gui ├── Point_Gui.sln └── Point_Gui │ ├── GeneratedFiles │ ├── Debug │ │ └── moc_Point_Gui.cpp │ ├── Release │ │ └── moc_Point_Gui.cpp │ ├── qrc_Point_Gui.cpp │ └── ui_Point_Gui.h │ ├── Point_Gui.cpp │ ├── Point_Gui.h │ ├── Point_Gui.qrc │ ├── Point_Gui.ui │ ├── Point_Gui.vcxproj │ ├── Point_Gui.vcxproj.filters │ ├── Point_Gui.vcxproj.user │ └── main.cpp ├── README.md ├── dll_demo ├── D3Dcompiler_47.dll ├── OpenNI2.dll ├── Point_Gui.exe ├── Qt5Core.dll ├── Qt5Gui.dll ├── Qt5Svg.dll ├── Qt5Widgets.dll ├── iconengines │ └── qsvgicon.dll ├── imageformats │ ├── qgif.dll │ ├── qicns.dll │ ├── qico.dll │ ├── qjpeg.dll │ ├── qsvg.dll │ ├── qtga.dll │ ├── qtiff.dll │ ├── qwbmp.dll │ └── qwebp.dll ├── libEGL.dll ├── libGLESV2.dll ├── opengl32sw.dll ├── pcl_common_release.dll ├── pcl_features_release.dll ├── pcl_filters_release.dll ├── pcl_io_ply_release.dll ├── pcl_io_release.dll ├── pcl_kdtree_release.dll ├── pcl_keypoints_release.dll ├── pcl_ml_release.dll ├── pcl_octree_release.dll ├── pcl_outofcore_release.dll ├── pcl_people_release.dll ├── pcl_recognition_release.dll ├── pcl_registration_release.dll ├── pcl_sample_consensus_release.dll ├── pcl_search_release.dll ├── pcl_segmentation_release.dll ├── pcl_stereo_release.dll ├── pcl_surface_release.dll ├── pcl_tracking_release.dll ├── pcl_visualization_release.dll ├── platforms │ └── qwindows.dll ├── translations │ ├── qt_ca.qm │ ├── qt_cs.qm │ ├── qt_de.qm │ ├── qt_en.qm │ ├── qt_fi.qm │ ├── qt_fr.qm │ ├── qt_he.qm │ ├── qt_hu.qm │ ├── qt_it.qm │ ├── qt_ja.qm │ ├── qt_ko.qm │ ├── qt_lv.qm │ ├── qt_pl.qm │ ├── qt_ru.qm │ ├── qt_sk.qm │ └── qt_uk.qm ├── vtkCommonColor-8.0.dll ├── vtkCommonComputationalGeometry-8.0.dll ├── vtkCommonCore-8.0.dll ├── vtkCommonDataModel-8.0.dll ├── vtkCommonExecutionModel-8.0.dll ├── vtkCommonMath-8.0.dll ├── vtkCommonMisc-8.0.dll ├── vtkCommonSystem-8.0.dll ├── vtkCommonTransforms-8.0.dll ├── vtkDomainsChemistryOpenGL2-8.0.dll ├── vtkFiltersCore-8.0.dll ├── vtkFiltersExtraction-8.0.dll ├── vtkFiltersFlowPaths-8.0.dll ├── vtkFiltersGeneral-8.0.dll ├── vtkFiltersGeneric-8.0.dll ├── vtkFiltersGeometry-8.0.dll ├── vtkFiltersHybrid-8.0.dll ├── vtkFiltersSources-8.0.dll ├── vtkFiltersStatistics-8.0.dll ├── vtkFiltersTexture-8.0.dll ├── vtkFiltersTopology-8.0.dll ├── vtkFiltersVerdict-8.0.dll ├── vtkGUISupportQt-8.0.dll ├── vtkGUISupportQtSQL-8.0.dll ├── vtkGeovisCore-8.0.dll ├── vtkImagingColor-8.0.dll ├── vtkImagingCore-8.0.dll ├── vtkImagingFourier-8.0.dll ├── vtkImagingGeneral-8.0.dll ├── vtkImagingHybrid-8.0.dll ├── vtkImagingMath-8.0.dll ├── vtkImagingMorphological-8.0.dll ├── vtkImagingSources-8.0.dll ├── vtkImagingStatistics-8.0.dll ├── vtkImagingStencil-8.0.dll ├── vtkInteractionImage-8.0.dll ├── vtkInteractionStyle-8.0.dll ├── vtkInteractionWidgets-8.0.dll ├── vtkRenderingContext2D-8.0.dll ├── vtkRenderingContextOpenGL2-8.0.dll ├── vtkRenderingCore-8.0.dll ├── vtkRenderingFreeType-8.0.dll ├── vtkRenderingGL2PSOpenGL2-8.0.dll ├── vtkRenderingImage-8.0.dll ├── vtkRenderingLOD-8.0.dll ├── vtkRenderingLabel-8.0.dll ├── vtkRenderingOpenGL2-8.0.dll ├── vtkRenderingQt-8.0.dll ├── vtkRenderingVolume-8.0.dll ├── vtkRenderingVolumeOpenGL2-8.0.dll ├── vtkViewsCore-8.0.dll ├── vtkViewsInfovis-8.0.dll ├── vtkViewsQt-8.0.dll ├── vtkalglib-8.0.dll ├── vtkfreetype-8.0.dll ├── vtkgl2ps-8.0.dll ├── vtkglew-8.0.dll ├── vtksys-8.0.dll └── vtkzlib-8.0.dll └── image ├── image.JPG └── qcode.png /Point_Gui/Point_Gui.sln: -------------------------------------------------------------------------------- 1 |  2 | Microsoft Visual Studio Solution File, Format Version 12.00 3 | # Visual Studio 2013 4 | VisualStudioVersion = 12.0.30501.0 5 | MinimumVisualStudioVersion = 10.0.40219.1 6 | Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "Point_Gui", "Point_Gui\Point_Gui.vcxproj", "{B12702AD-ABFB-343A-A199-8E24837244A3}" 7 | EndProject 8 | Global 9 | GlobalSection(SolutionConfigurationPlatforms) = preSolution 10 | Debug|x64 = Debug|x64 11 | Release|x64 = Release|x64 12 | EndGlobalSection 13 | GlobalSection(ProjectConfigurationPlatforms) = postSolution 14 | {B12702AD-ABFB-343A-A199-8E24837244A3}.Debug|x64.ActiveCfg = Debug|x64 15 | {B12702AD-ABFB-343A-A199-8E24837244A3}.Debug|x64.Build.0 = Debug|x64 16 | {B12702AD-ABFB-343A-A199-8E24837244A3}.Release|x64.ActiveCfg = Release|x64 17 | {B12702AD-ABFB-343A-A199-8E24837244A3}.Release|x64.Build.0 = Release|x64 18 | EndGlobalSection 19 | GlobalSection(SolutionProperties) = preSolution 20 | HideSolutionNode = FALSE 21 | EndGlobalSection 22 | EndGlobal 23 | -------------------------------------------------------------------------------- /Point_Gui/Point_Gui/GeneratedFiles/Debug/moc_Point_Gui.cpp: -------------------------------------------------------------------------------- 1 | /**************************************************************************** 2 | ** Meta object code from reading C++ file 'Point_Gui.h' 3 | ** 4 | ** Created by: The Qt Meta Object Compiler version 67 (Qt 5.8.0) 5 | ** 6 | ** WARNING! All changes made in this file will be lost! 7 | *****************************************************************************/ 8 | 9 | #include "../../Point_Gui.h" 10 | #include 11 | #include 12 | #if !defined(Q_MOC_OUTPUT_REVISION) 13 | #error "The header file 'Point_Gui.h' doesn't include ." 14 | #elif Q_MOC_OUTPUT_REVISION != 67 15 | #error "This file was generated using the moc from 5.8.0. It" 16 | #error "cannot be used with the include files from this version of Qt." 17 | #error "(The moc has changed too much.)" 18 | #endif 19 | 20 | QT_BEGIN_MOC_NAMESPACE 21 | QT_WARNING_PUSH 22 | QT_WARNING_DISABLE_DEPRECATED 23 | struct qt_meta_stringdata_Point_Gui_t { 24 | QByteArrayData data[1]; 25 | char stringdata0[10]; 26 | }; 27 | #define QT_MOC_LITERAL(idx, ofs, len) \ 28 | Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \ 29 | qptrdiff(offsetof(qt_meta_stringdata_Point_Gui_t, stringdata0) + ofs \ 30 | - idx * sizeof(QByteArrayData)) \ 31 | ) 32 | static const qt_meta_stringdata_Point_Gui_t qt_meta_stringdata_Point_Gui = { 33 | { 34 | QT_MOC_LITERAL(0, 0, 9) // "Point_Gui" 35 | 36 | }, 37 | "Point_Gui" 38 | }; 39 | #undef QT_MOC_LITERAL 40 | 41 | static const uint qt_meta_data_Point_Gui[] = { 42 | 43 | // content: 44 | 7, // revision 45 | 0, // classname 46 | 0, 0, // classinfo 47 | 0, 0, // methods 48 | 0, 0, // properties 49 | 0, 0, // enums/sets 50 | 0, 0, // constructors 51 | 0, // flags 52 | 0, // signalCount 53 | 54 | 0 // eod 55 | }; 56 | 57 | void Point_Gui::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a) 58 | { 59 | Q_UNUSED(_o); 60 | Q_UNUSED(_id); 61 | Q_UNUSED(_c); 62 | Q_UNUSED(_a); 63 | } 64 | 65 | const QMetaObject Point_Gui::staticMetaObject = { 66 | { &QMainWindow::staticMetaObject, qt_meta_stringdata_Point_Gui.data, 67 | qt_meta_data_Point_Gui, qt_static_metacall, Q_NULLPTR, Q_NULLPTR} 68 | }; 69 | 70 | 71 | const QMetaObject *Point_Gui::metaObject() const 72 | { 73 | return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject; 74 | } 75 | 76 | void *Point_Gui::qt_metacast(const char *_clname) 77 | { 78 | if (!_clname) return Q_NULLPTR; 79 | if (!strcmp(_clname, qt_meta_stringdata_Point_Gui.stringdata0)) 80 | return static_cast(const_cast< Point_Gui*>(this)); 81 | return QMainWindow::qt_metacast(_clname); 82 | } 83 | 84 | int Point_Gui::qt_metacall(QMetaObject::Call _c, int _id, void **_a) 85 | { 86 | _id = QMainWindow::qt_metacall(_c, _id, _a); 87 | if (_id < 0) 88 | return _id; 89 | return _id; 90 | } 91 | QT_WARNING_POP 92 | QT_END_MOC_NAMESPACE 93 | -------------------------------------------------------------------------------- /Point_Gui/Point_Gui/GeneratedFiles/Release/moc_Point_Gui.cpp: -------------------------------------------------------------------------------- 1 | /**************************************************************************** 2 | ** Meta object code from reading C++ file 'Point_Gui.h' 3 | ** 4 | ** Created by: The Qt Meta Object Compiler version 67 (Qt 5.8.0) 5 | ** 6 | ** WARNING! All changes made in this file will be lost! 7 | *****************************************************************************/ 8 | 9 | #include "../../Point_Gui.h" 10 | #include 11 | #include 12 | #if !defined(Q_MOC_OUTPUT_REVISION) 13 | #error "The header file 'Point_Gui.h' doesn't include ." 14 | #elif Q_MOC_OUTPUT_REVISION != 67 15 | #error "This file was generated using the moc from 5.8.0. It" 16 | #error "cannot be used with the include files from this version of Qt." 17 | #error "(The moc has changed too much.)" 18 | #endif 19 | 20 | QT_BEGIN_MOC_NAMESPACE 21 | QT_WARNING_PUSH 22 | QT_WARNING_DISABLE_DEPRECATED 23 | struct qt_meta_stringdata_Point_Gui_t { 24 | QByteArrayData data[4]; 25 | char stringdata0[53]; 26 | }; 27 | #define QT_MOC_LITERAL(idx, ofs, len) \ 28 | Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \ 29 | qptrdiff(offsetof(qt_meta_stringdata_Point_Gui_t, stringdata0) + ofs \ 30 | - idx * sizeof(QByteArrayData)) \ 31 | ) 32 | static const qt_meta_stringdata_Point_Gui_t qt_meta_stringdata_Point_Gui = { 33 | { 34 | QT_MOC_LITERAL(0, 0, 9), // "Point_Gui" 35 | QT_MOC_LITERAL(1, 10, 19), // "randomButtonPressed" 36 | QT_MOC_LITERAL(2, 30, 0), // "" 37 | QT_MOC_LITERAL(3, 31, 21) // "openfileButtonPressed" 38 | 39 | }, 40 | "Point_Gui\0randomButtonPressed\0\0" 41 | "openfileButtonPressed" 42 | }; 43 | #undef QT_MOC_LITERAL 44 | 45 | static const uint qt_meta_data_Point_Gui[] = { 46 | 47 | // content: 48 | 7, // revision 49 | 0, // classname 50 | 0, 0, // classinfo 51 | 2, 14, // methods 52 | 0, 0, // properties 53 | 0, 0, // enums/sets 54 | 0, 0, // constructors 55 | 0, // flags 56 | 0, // signalCount 57 | 58 | // slots: name, argc, parameters, tag, flags 59 | 1, 0, 24, 2, 0x0a /* Public */, 60 | 3, 0, 25, 2, 0x0a /* Public */, 61 | 62 | // slots: parameters 63 | QMetaType::Void, 64 | QMetaType::Void, 65 | 66 | 0 // eod 67 | }; 68 | 69 | void Point_Gui::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a) 70 | { 71 | if (_c == QMetaObject::InvokeMetaMethod) { 72 | Point_Gui *_t = static_cast(_o); 73 | Q_UNUSED(_t) 74 | switch (_id) { 75 | case 0: _t->randomButtonPressed(); break; 76 | case 1: _t->openfileButtonPressed(); break; 77 | default: ; 78 | } 79 | } 80 | Q_UNUSED(_a); 81 | } 82 | 83 | const QMetaObject Point_Gui::staticMetaObject = { 84 | { &QMainWindow::staticMetaObject, qt_meta_stringdata_Point_Gui.data, 85 | qt_meta_data_Point_Gui, qt_static_metacall, Q_NULLPTR, Q_NULLPTR} 86 | }; 87 | 88 | 89 | const QMetaObject *Point_Gui::metaObject() const 90 | { 91 | return QObject::d_ptr->metaObject ? QObject::d_ptr->dynamicMetaObject() : &staticMetaObject; 92 | } 93 | 94 | void *Point_Gui::qt_metacast(const char *_clname) 95 | { 96 | if (!_clname) return Q_NULLPTR; 97 | if (!strcmp(_clname, qt_meta_stringdata_Point_Gui.stringdata0)) 98 | return static_cast(const_cast< Point_Gui*>(this)); 99 | return QMainWindow::qt_metacast(_clname); 100 | } 101 | 102 | int Point_Gui::qt_metacall(QMetaObject::Call _c, int _id, void **_a) 103 | { 104 | _id = QMainWindow::qt_metacall(_c, _id, _a); 105 | if (_id < 0) 106 | return _id; 107 | if (_c == QMetaObject::InvokeMetaMethod) { 108 | if (_id < 2) 109 | qt_static_metacall(this, _c, _id, _a); 110 | _id -= 2; 111 | } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) { 112 | if (_id < 2) 113 | *reinterpret_cast(_a[0]) = -1; 114 | _id -= 2; 115 | } 116 | return _id; 117 | } 118 | QT_WARNING_POP 119 | QT_END_MOC_NAMESPACE 120 | -------------------------------------------------------------------------------- /Point_Gui/Point_Gui/GeneratedFiles/qrc_Point_Gui.cpp: -------------------------------------------------------------------------------- 1 | /**************************************************************************** 2 | ** Resource object code 3 | ** 4 | ** Created by: The Resource Compiler for Qt version 5.8.0 5 | ** 6 | ** WARNING! All changes made in this file will be lost! 7 | *****************************************************************************/ 8 | 9 | #ifdef QT_NAMESPACE 10 | # define QT_RCC_PREPEND_NAMESPACE(name) ::QT_NAMESPACE::name 11 | # define QT_RCC_MANGLE_NAMESPACE0(x) x 12 | # define QT_RCC_MANGLE_NAMESPACE1(a, b) a##_##b 13 | # define QT_RCC_MANGLE_NAMESPACE2(a, b) QT_RCC_MANGLE_NAMESPACE1(a,b) 14 | # define QT_RCC_MANGLE_NAMESPACE(name) QT_RCC_MANGLE_NAMESPACE2( \ 15 | QT_RCC_MANGLE_NAMESPACE0(name), QT_RCC_MANGLE_NAMESPACE0(QT_NAMESPACE)) 16 | #else 17 | # define QT_RCC_PREPEND_NAMESPACE(name) name 18 | # define QT_RCC_MANGLE_NAMESPACE(name) name 19 | #endif 20 | 21 | #ifdef QT_NAMESPACE 22 | namespace QT_NAMESPACE { 23 | #endif 24 | 25 | #ifdef QT_NAMESPACE 26 | } 27 | #endif 28 | 29 | int QT_RCC_MANGLE_NAMESPACE(qInitResources_Point_Gui)(); 30 | int QT_RCC_MANGLE_NAMESPACE(qInitResources_Point_Gui)() 31 | { 32 | return 1; 33 | } 34 | 35 | int QT_RCC_MANGLE_NAMESPACE(qCleanupResources_Point_Gui)(); 36 | int QT_RCC_MANGLE_NAMESPACE(qCleanupResources_Point_Gui)() 37 | { 38 | return 1; 39 | } 40 | 41 | namespace { 42 | struct initializer { 43 | initializer() { QT_RCC_MANGLE_NAMESPACE(qInitResources_Point_Gui)(); } 44 | ~initializer() { QT_RCC_MANGLE_NAMESPACE(qCleanupResources_Point_Gui)(); } 45 | } dummy; 46 | } 47 | -------------------------------------------------------------------------------- /Point_Gui/Point_Gui/GeneratedFiles/ui_Point_Gui.h: -------------------------------------------------------------------------------- 1 | /******************************************************************************** 2 | ** Form generated from reading UI file 'Point_Gui.ui' 3 | ** 4 | ** Created by: Qt User Interface Compiler version 5.8.0 5 | ** 6 | ** WARNING! All changes made in this file will be lost when recompiling UI file! 7 | ********************************************************************************/ 8 | 9 | #ifndef UI_POINT_GUI_H 10 | #define UI_POINT_GUI_H 11 | 12 | #include 13 | #include 14 | #include 15 | #include 16 | #include 17 | #include 18 | #include 19 | #include 20 | #include 21 | #include 22 | #include 23 | #include 24 | #include 25 | #include "QVTKWidget.h" 26 | 27 | QT_BEGIN_NAMESPACE 28 | 29 | class Ui_Point_GuiClass 30 | { 31 | public: 32 | QWidget *centralWidget; 33 | QVTKWidget *qvtkWidget; 34 | QTextBrowser *textBrowser; 35 | QWidget *layoutWidget; 36 | QFormLayout *formLayout; 37 | QPushButton *pushButton_2; 38 | QPushButton *pushButton; 39 | QMenuBar *menuBar; 40 | QToolBar *mainToolBar; 41 | QStatusBar *statusBar; 42 | 43 | void setupUi(QMainWindow *Point_GuiClass) 44 | { 45 | if (Point_GuiClass->objectName().isEmpty()) 46 | Point_GuiClass->setObjectName(QStringLiteral("Point_GuiClass")); 47 | Point_GuiClass->resize(600, 418); 48 | QSizePolicy sizePolicy(QSizePolicy::Maximum, QSizePolicy::Fixed); 49 | sizePolicy.setHorizontalStretch(0); 50 | sizePolicy.setVerticalStretch(0); 51 | sizePolicy.setHeightForWidth(Point_GuiClass->sizePolicy().hasHeightForWidth()); 52 | Point_GuiClass->setSizePolicy(sizePolicy); 53 | Point_GuiClass->setMinimumSize(QSize(600, 418)); 54 | Point_GuiClass->setMaximumSize(QSize(600, 418)); 55 | Point_GuiClass->setSizeIncrement(QSize(20, 20)); 56 | Point_GuiClass->setToolButtonStyle(Qt::ToolButtonTextOnly); 57 | centralWidget = new QWidget(Point_GuiClass); 58 | centralWidget->setObjectName(QStringLiteral("centralWidget")); 59 | qvtkWidget = new QVTKWidget(centralWidget); 60 | qvtkWidget->setObjectName(QStringLiteral("qvtkWidget")); 61 | qvtkWidget->setEnabled(true); 62 | qvtkWidget->setGeometry(QRect(160, 10, 413, 341)); 63 | qvtkWidget->setMinimumSize(QSize(413, 341)); 64 | qvtkWidget->setMaximumSize(QSize(800, 800)); 65 | qvtkWidget->setSizeIncrement(QSize(10, 10)); 66 | textBrowser = new QTextBrowser(centralWidget); 67 | textBrowser->setObjectName(QStringLiteral("textBrowser")); 68 | textBrowser->setGeometry(QRect(10, 100, 141, 221)); 69 | layoutWidget = new QWidget(centralWidget); 70 | layoutWidget->setObjectName(QStringLiteral("layoutWidget")); 71 | layoutWidget->setGeometry(QRect(34, 30, 83, 54)); 72 | formLayout = new QFormLayout(layoutWidget); 73 | formLayout->setObjectName(QStringLiteral("formLayout")); 74 | formLayout->setContentsMargins(0, 0, 0, 0); 75 | pushButton_2 = new QPushButton(layoutWidget); 76 | pushButton_2->setObjectName(QStringLiteral("pushButton_2")); 77 | 78 | formLayout->setWidget(0, QFormLayout::LabelRole, pushButton_2); 79 | 80 | pushButton = new QPushButton(layoutWidget); 81 | pushButton->setObjectName(QStringLiteral("pushButton")); 82 | 83 | formLayout->setWidget(1, QFormLayout::LabelRole, pushButton); 84 | 85 | Point_GuiClass->setCentralWidget(centralWidget); 86 | menuBar = new QMenuBar(Point_GuiClass); 87 | menuBar->setObjectName(QStringLiteral("menuBar")); 88 | menuBar->setGeometry(QRect(0, 0, 600, 23)); 89 | Point_GuiClass->setMenuBar(menuBar); 90 | mainToolBar = new QToolBar(Point_GuiClass); 91 | mainToolBar->setObjectName(QStringLiteral("mainToolBar")); 92 | Point_GuiClass->addToolBar(Qt::TopToolBarArea, mainToolBar); 93 | statusBar = new QStatusBar(Point_GuiClass); 94 | statusBar->setObjectName(QStringLiteral("statusBar")); 95 | Point_GuiClass->setStatusBar(statusBar); 96 | 97 | retranslateUi(Point_GuiClass); 98 | 99 | QMetaObject::connectSlotsByName(Point_GuiClass); 100 | } // setupUi 101 | 102 | void retranslateUi(QMainWindow *Point_GuiClass) 103 | { 104 | Point_GuiClass->setWindowTitle(QApplication::translate("Point_GuiClass", "dianyunPCL demo", Q_NULLPTR)); 105 | textBrowser->setHtml(QApplication::translate("Point_GuiClass", "\n" 106 | "\n" 109 | "

\350\277\231\346\230\257\344\270\200\344\270\252\345\234\250VS2015\344\270\213\344\275\277\347\224\250QT5.8\345\201\232\344\272\206\344\270\200\344\270\252\347\256\200\345\215\225\347\232\204demo,\345\256\236\347\216\260\344\272\206\346\211\223\345\274\200\344\270\200\344\270\252PCD\346\226\207\344\273\266\357\274\214\345\271\266\345\234\250QT\344\270\255\345\256\236\347\216\260\344\272\206\345\217\257\350\247\206\345\214\226\357\274\214\344\276\235\350\265\226\351\241\271\344\270\273\350\246\201\346\234\211PCL1.8.1\344\273\245\345\217" 110 | "\212\351\234\200\350\246\201\351\207\215\346\226\260\344\270\216QT\350\201\224\345\220\210\347\274\226\350\257\221\347\232\204VTK\343\200\202

\n" 111 | "


\n" 112 | "


\n" 113 | "


\n" 114 | "

dianyunPCL

\n" 115 | "

\346" 116 | "\234\254\347\250\213\345\272\217\347\224\2612020-1-10 particle

", Q_NULLPTR)); 117 | pushButton_2->setText(QApplication::translate("Point_GuiClass", "OpneFile", Q_NULLPTR)); 118 | pushButton->setText(QApplication::translate("Point_GuiClass", "RandomColor", Q_NULLPTR)); 119 | } // retranslateUi 120 | 121 | }; 122 | 123 | namespace Ui { 124 | class Point_GuiClass: public Ui_Point_GuiClass {}; 125 | } // namespace Ui 126 | 127 | QT_END_NAMESPACE 128 | 129 | #endif // UI_POINT_GUI_H 130 | -------------------------------------------------------------------------------- /Point_Gui/Point_Gui/Point_Gui.cpp: -------------------------------------------------------------------------------- 1 | #include "Point_Gui.h" 2 | #include "vtkAutoInit.h" 3 | 4 | 5 | Point_Gui::Point_Gui(QWidget* parent) 6 | : QMainWindow(parent) { 7 | ui.setupUi(this); 8 | this->setWindowTitle("|| dianyunPCL || PCL QT_demo"); 9 | 10 | // Setup the cloud pointer 11 | cloud.reset(new PointCloudT); 12 | // The number of points in the cloud 13 | cloud->points.resize(5000); 14 | 15 | // The default color 16 | red = 128; 17 | green = 128; 18 | blue = 128; 19 | 20 | // Fill the cloud with some points 21 | for (size_t i = 0; i < cloud->points.size(); ++i) { 22 | cloud->points[i].x = 1024 * rand() / (RAND_MAX + 1.0f); 23 | cloud->points[i].y = 1024 * rand() / (RAND_MAX + 1.0f); 24 | cloud->points[i].z = 1024 * rand() / (RAND_MAX + 1.0f); 25 | 26 | cloud->points[i].r = red; 27 | cloud->points[i].g = green; 28 | cloud->points[i].b = blue; 29 | } 30 | 31 | //Set up the QVTK window 32 | viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false)); 33 | ui.qvtkWidget->SetRenderWindow(viewer->getRenderWindow()); 34 | viewer->setupInteractor(ui.qvtkWidget->GetInteractor(), ui.qvtkWidget->GetRenderWindow()); 35 | ui.qvtkWidget->update(); 36 | 37 | // Connect "random" button and the function 38 | connect(ui.pushButton, SIGNAL(clicked()), this, SLOT(randomButtonPressed())); 39 | connect(ui.pushButton_2, SIGNAL(clicked()), this, SLOT(openfileButtonPressed())); 40 | 41 | viewer->addPointCloud(cloud, "cloud"); 42 | viewer->resetCamera(); 43 | ui.qvtkWidget->update(); 44 | } 45 | 46 | Point_Gui::~Point_Gui() { 47 | delete ui.centralWidget; 48 | } 49 | 50 | 51 | void Point_Gui::randomButtonPressed() { 52 | printf("Random button was pressed\n"); 53 | printf("Random button was pressed\n"); 54 | 55 | // Set the new color 56 | for (size_t i = 0; i < cloud->size(); i++) { 57 | cloud->points[i].r = 255 * (1024 * rand() / (RAND_MAX + 1.0f)); 58 | cloud->points[i].g = 255 * (1024 * rand() / (RAND_MAX + 1.0f)); 59 | cloud->points[i].b = 255 * (1024 * rand() / (RAND_MAX + 1.0f)); 60 | } 61 | 62 | viewer->updatePointCloud(cloud, "cloud"); 63 | ui.qvtkWidget->update(); 64 | } 65 | 66 | void 67 | Point_Gui::openfileButtonPressed() { 68 | viewer->removePointCloud("cloud"); 69 | // You might want to change "/home/" if you're not on an *nix platform 70 | QString filename = QFileDialog::getOpenFileName(this, tr("Open point cloud"), 71 | "D://", tr("Point cloud data (*.pcd *.ply)")); 72 | 73 | PCL_INFO("File chosen: %s\n", filename.toStdString().c_str()); 74 | std::cout << filename.toStdString().c_str() << std::endl; 75 | pcl::PointCloud::Ptr cloud_(new pcl::PointCloud); 76 | pcl::PointCloud::Ptr cloud_tmp(new pcl::PointCloud); 77 | 78 | if (filename.isEmpty()) { 79 | return; 80 | } 81 | 82 | int return_status; 83 | 84 | if (filename.endsWith(".pcd", Qt::CaseInsensitive)) { 85 | return_status = pcl::io::loadPCDFile(filename.toStdString(), *cloud_tmp); 86 | } else { 87 | return_status = pcl::io::loadPLYFile(filename.toStdString(), *cloud_tmp); 88 | } 89 | 90 | if (return_status != 0) { 91 | PCL_ERROR("Error reading point cloud %s\n", filename.toStdString().c_str()); 92 | return; 93 | } 94 | 95 | //// If point cloud contains NaN values, remove them before updating the visualizer point cloud 96 | //if (cloud_tmp->is_dense) { 97 | // pcl::copyPointCloud(*cloud_tmp, *cloud_); 98 | //} else { 99 | // PCL_WARN("Cloud is not dense! Non finite points will be removed\n"); 100 | // std::vector vec; 101 | // pcl::removeNaNFromPointCloud(*cloud_tmp, *cloud_, vec); 102 | //} 103 | 104 | /* 105 | pcl::VoxelGrid sor; 106 | sor.setInputCloud(cloud_); 107 | sor.setLeafSize (0.05f,0.05f,0.05f); 108 | sor.filter (*cloud_); 109 | */ 110 | pcl::copyPointCloud(*cloud_tmp, *cloud_); 111 | std::cout << cloud_tmp->points.size() << std::endl; 112 | viewer->addPointCloud(cloud_, "cloud"); 113 | viewer->resetCamera(); 114 | ui.qvtkWidget->update(); 115 | } -------------------------------------------------------------------------------- /Point_Gui/Point_Gui/Point_Gui.h: -------------------------------------------------------------------------------- 1 | #pragma once 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include 8 | 9 | // Visualization Toolkit (VTK) 10 | #include 11 | #include 12 | #include 13 | #include 14 | #include 15 | #include 16 | #include 17 | #include 18 | #include 19 | #include 20 | #include 21 | 22 | VTK_MODULE_INIT(vtkRenderingOpenGL2) 23 | VTK_MODULE_INIT(vtkInteractionStyle); 24 | VTK_MODULE_INIT(vtkRenderingFreeType); 25 | #include 26 | #include "ui_Point_Gui.h" 27 | 28 | #include 29 | 30 | // Qt 31 | #include 32 | #include 33 | // Point Cloud Library 34 | #include 35 | #include 36 | #include 37 | 38 | typedef pcl::PointXYZRGBA PointT; 39 | typedef pcl::PointCloud PointCloudT; 40 | 41 | class Point_Gui : public QMainWindow { 42 | Q_OBJECT 43 | 44 | public: 45 | Point_Gui(QWidget* parent = Q_NULLPTR); 46 | /** @brief Destructor */ 47 | ~Point_Gui(); 48 | 49 | public Q_SLOTS: 50 | void randomButtonPressed(); 51 | void openfileButtonPressed(); 52 | protected: 53 | boost::shared_ptr viewer; 54 | PointCloudT::Ptr cloud; 55 | 56 | unsigned int red; 57 | unsigned int green; 58 | unsigned int blue; 59 | QString filepath; 60 | private: 61 | Ui::Point_GuiClass ui; 62 | }; 63 | -------------------------------------------------------------------------------- /Point_Gui/Point_Gui/Point_Gui.qrc: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | -------------------------------------------------------------------------------- /Point_Gui/Point_Gui/Point_Gui.ui: -------------------------------------------------------------------------------- 1 | 2 | 3 | particle 4 | Point_GuiClass 5 | 6 | 7 | 8 | 0 9 | 0 10 | 600 11 | 418 12 | 13 | 14 | 15 | 16 | 0 17 | 0 18 | 19 | 20 | 21 | 22 | 600 23 | 418 24 | 25 | 26 | 27 | 28 | 600 29 | 418 30 | 31 | 32 | 33 | 34 | 20 35 | 20 36 | 37 | 38 | 39 | dianyunPCL demo 40 | 41 | 42 | Qt::ToolButtonTextOnly 43 | 44 | 45 | 46 | 47 | true 48 | 49 | 50 | 51 | 160 52 | 10 53 | 413 54 | 341 55 | 56 | 57 | 58 | 59 | 413 60 | 341 61 | 62 | 63 | 64 | 65 | 800 66 | 800 67 | 68 | 69 | 70 | 71 | 10 72 | 10 73 | 74 | 75 | 76 | 77 | 78 | 79 | 10 80 | 100 81 | 141 82 | 221 83 | 84 | 85 | 86 | <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> 87 | <html><head><meta name="qrichtext" content="1" /><style type="text/css"> 88 | p, li { white-space: pre-wrap; } 89 | </style></head><body style=" font-family:'SimSun'; font-size:9pt; font-weight:400; font-style:normal;"> 90 | <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">这是一个在VS2015下使用QT5.8做了一个简单的demo,实现了打开一个PCD文件，并在QT中实现了可视化，依赖项主要有PCL1.8.1以及需要重新与QT联合编译的VTK。</span></p> 91 | <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p> 92 | <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p> 93 | <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:10pt;"><br /></p> 94 | <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">dianyunPCL</span></p> 95 | <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:10pt;">本程序由2020-1-10 particle</span></p></body></html> 96 | 97 | 98 | 99 | 100 | 101 | 34 102 | 30 103 | 83 104 | 54 105 | 106 | 107 | 108 | 109 | 110 | 111 | OpneFile 112 | 113 | 114 | 115 | 116 | 117 | 118 | RandomColor 119 | 120 | 121 | 122 | 123 | 124 | 125 | 126 | 127 | 128 | 0 129 | 0 130 | 600 131 | 23 132 | 133 | 134 | 135 | 136 | 137 | TopToolBarArea 138 | 139 | 140 | false 141 | 142 | 143 | 144 | 145 | 146 | 147 | QVTKWidget 148 | QWidget 149 |
QVTKWidget.h
150 | 151 | 152 | 153 | 154 | 155 | 156 | 157 | -------------------------------------------------------------------------------- /Point_Gui/Point_Gui/Point_Gui.vcxproj: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 5 | Debug 6 | x64 7 | 8 | 9 | Release 10 | x64 11 | 12 | 13 | 14 | {B12702AD-ABFB-343A-A199-8E24837244A3} 15 | Qt4VSv1.0 16 | 17 | 18 | 19 | Application 20 | v140 21 | 22 | 23 | Application 24 | v140 25 | 26 | 27 | 28 | $(MSBuildProjectDirectory)\QtMsBuild 29 | 30 | 31 | $(SolutionDir)$(Platform)\$(Configuration)\ 32 | 33 | 34 | $(SolutionDir)$(Platform)\$(Configuration)\ 35 | D:\PCL 1.8.1\include\pcl-1.8;D:\PCL 1.8.1\3rdParty\Boost\include\boost-1_64;D:\PCL 1.8.1\3rdParty\Eigen\eigen3;D:\PCL 1.8.1\3rdParty\FLANN\include;D:\PCL 1.8.1\3rdParty\QVTK\VTK\include\vtk-8.0;C:\Program Files (x86)\Windows Kits\10\Include\10.0.10150.0\ucrt;$(IncludePath) 36 | D:\PCL 1.8.1\lib;D:\PCL 1.8.1\3rdParty\FLANN\lib;D:\PCL 1.8.1\3rdParty\Boost\lib;D:\PCL 1.8.1\3rdParty\Qhull\lib;D:\PCL 1.8.1\3rdParty\QVTK\VTK\lib;C:\Program Files (x86)\Windows Kits\10\Lib\10.0.10150.0\ucrt\x64;$(LibraryPath) 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | true 56 | UNICODE;WIN32;WIN64;QT_DLL;QT_CORE_LIB;QT_GUI_LIB;QT_WIDGETS_LIB;%(PreprocessorDefinitions) 57 | .\GeneratedFiles;.;$(QTDIR)\include;.\GeneratedFiles\$(ConfigurationName);$(QTDIR)\include\QtCore;$(QTDIR)\include\QtGui;$(QTDIR)\include\QtANGLE;$(QTDIR)\include\QtWidgets;%(AdditionalIncludeDirectories) 58 | Disabled 59 | ProgramDatabase 60 | MultiThreadedDebugDLL 61 | true 62 | 63 | 64 | Windows 65 | $(OutDir)\$(ProjectName).exe 66 | $(QTDIR)\lib;%(AdditionalLibraryDirectories) 67 | true 68 | qtmaind.lib;Qt5Cored.lib;Qt5Guid.lib;Qt5Widgetsd.lib;%(AdditionalDependencies) 69 | 70 | 71 | .\GeneratedFiles\$(ConfigurationName)\moc_%(Filename).cpp 72 | Moc'ing %(Identity)... 73 | .\GeneratedFiles;.;$(QTDIR)\include;.\GeneratedFiles\$(ConfigurationName);$(QTDIR)\include\QtCore;$(QTDIR)\include\QtGui;$(QTDIR)\include\QtANGLE;$(QTDIR)\include\QtWidgets;%(AdditionalIncludeDirectories) 74 | UNICODE;WIN32;WIN64;QT_DLL;QT_CORE_LIB;QT_GUI_LIB;QT_WIDGETS_LIB;%(PreprocessorDefinitions) 75 | 76 | 77 | Uic'ing %(Identity)... 78 | .\GeneratedFiles\ui_%(Filename).h 79 | 80 | 81 | Rcc'ing %(Identity)... 82 | .\GeneratedFiles\qrc_%(Filename).cpp 83 | 84 | 85 | 86 | 87 | true 88 | UNICODE;WIN32;WIN64;QT_DLL;QT_NO_DEBUG;NDEBUG;QT_CORE_LIB;QT_GUI_LIB;QT_WIDGETS_LIB;%(PreprocessorDefinitions) 89 | .\GeneratedFiles;.;$(QTDIR)\include;.\GeneratedFiles\$(ConfigurationName);$(QTDIR)\include\QtCore;$(QTDIR)\include\QtGui;$(QTDIR)\include\QtANGLE;$(QTDIR)\include\QtWidgets;%(AdditionalIncludeDirectories) 90 | 91 | MultiThreadedDLL 92 | true 93 | 94 | 95 | Windows 96 | $(OutDir)\$(ProjectName).exe 97 | $(QTDIR)\lib;%(AdditionalLibraryDirectories) 98 | false 99 | 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177 | .\GeneratedFiles\qrc_%(Filename).cpp 178 | 179 | 180 | 181 | 182 | 183 | 184 | 185 | 186 | 187 | 188 | 189 | 190 | 191 | 192 | 193 | 194 | 195 | 196 | 197 | 198 | 199 | 200 | 201 | 202 | 203 | 204 | -------------------------------------------------------------------------------- /Point_Gui/Point_Gui/Point_Gui.vcxproj.filters: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 5 | {4FC737F1-C7A5-4376-A066-2A32D752A2FF} 6 | cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx 7 | 8 | 9 | {93995380-89BD-4b04-88EB-625FBE52EBFB} 10 | h;hh;hpp;hxx;hm;inl;inc;xsd 11 | 12 | 13 | {D9D6E242-F8AF-46E4-B9FD-80ECBC20BA3E} 14 | qrc;* 15 | false 16 | 17 | 18 | {99349809-55BA-4b9d-BF79-8FDBB0286EB3} 19 | ui 20 | 21 | 22 | {D9D6E242-F8AF-46E4-B9FD-80ECBC20BA3E} 23 | qrc;* 24 | false 25 | 26 | 27 | {71ED8ED8-ACB9-4CE9-BBE1-E00B30144E11} 28 | moc;h;cpp 29 | False 30 | 31 | 32 | 33 | 34 | Source Files 35 | 36 | 37 | Source Files 38 | 39 | 40 | 41 | 42 | Header Files 43 | 44 | 45 | 46 | 47 | Form Files 48 | 49 | 50 | 51 | 52 | Resource Files 53 | 54 | 55 | -------------------------------------------------------------------------------- /Point_Gui/Point_Gui/Point_Gui.vcxproj.user: -------------------------------------------------------------------------------- 1 |  2 | 3 | 4 | 5 | D:\Qt\Qt5.8.0\5.8\msvc2015_64 6 | PATH=$(QTDIR)\bin%3b$(PATH) 7 | 8 | 9 | D:\Qt\Qt5.8.0\5.8\msvc2015_64 10 | PATH=$(QTDIR)\bin%3b$(PATH) 11 | 12 | -------------------------------------------------------------------------------- /Point_Gui/Point_Gui/main.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yaoli1992/dianyunPCL_QT_demo/1d063bc2a63e286c9364d0c154929ad4d4d40732/Point_Gui/Point_Gui/main.cpp -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # dianyunPCL_QT_demo 2 | 3 | 作者：particle 4 | 5 | 公众号：点云PCL 6 | 7 | 8 | 这是一个由“点云PCL”公众号发布的一个关于使用VS2015联合QT设计的一个点云可视化界面的程序， 9 | 10 | 已经完成了封装的发布的一个exe，可以在win7上直接点击exe打开界面，实现了两个按钮， 11 | 12 | 一个是打开一个PCD文件并且可视化子啊右图上，一个按钮实现了生成一个正方体的点云， 13 | 14 | 并且每一次按钮就会改变点云的颜色。 15 | 16 | **运行界面** 17 | 18 | ![the outcome of point_Gui](https://github.com/yaoli1992/dianyunPCL_QT_demo/blob/master/image/image.JPG) 19 | 20 | 21 | 22 | 23 | # 用法 24 | 25 | dll_demo是可以直接运行exe以及dll文件，在win7和win10均可以直接运行，选择打开文件，选择pcd文件即可 26 | 27 | Point_Gui是工程文件，简单的有Qt界面设计文件.ui，以及主函数和.h .cpp 两个文件，只要能够按照“点云PCL” 28 | 29 | [公众号的教程文章](https://mp.weixin.qq.com/s?__biz=MzI0MDYxMDk0Ng==&mid=2247486315&idx=1&sn=c100ad4b44dbf576adf165e9ed62c745&chksm=e9197086de6ef990ae5a52382f203575906bbef18001c4dd1f137ce260ed12d176e21567ffc4&token=1985145962&lang=zh_CN#rd) 30 | 31 | 在配置环境的时候需要更改工程属性的PCL的配置，并且可以在此工程的基础上继续开发，如有问题或者 32 | 33 | 其他需求可联系：dianyunpcl@163.com 34 | 35 | # 公众号二维码 36 | 37 | ![the GUI of this project](https://github.com/yaoli1992/dianyunPCL_QT_demo/blob/master/image/qcode.png) 38 | 39 | -------------------------------------------------------------------------------- /dll_demo/D3Dcompiler_47.dll: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yaoli1992/dianyunPCL_QT_demo/1d063bc2a63e286c9364d0c154929ad4d4d40732/dll_demo/D3Dcompiler_47.dll -------------------------------------------------------------------------------- /dll_demo/OpenNI2.dll: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/yaoli1992/dianyunPCL_QT_demo/1d063bc2a63e286c9364d0c154929ad4d4d40732/dll_demo/OpenNI2.dll -------------------------------------------------------------------------------- /dll_demo/Point_Gui.exe: -------------------------------------------------------------------------------- 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