目录
Ubuntu20.04 + QT5.14.2 + VTK8.2.0 + PCL 1.10 环境配置一、VTK 编译和安装1、库依赖:2、下载资源:[下载VTK8.2.0](https://www.vtk.org/files/release/8.2/VTK-8.2.0.tar.gz)3、编译:4、安装5、qtcreator 配置编译的`libQVTKWidgetPlugin.so`
二、PCL安装1、一键安装2、测试
三、qt 中使用 vtk 显示点云图1、pro 中引入依赖
Ubuntu20.04 + QT5.14.2 + VTK8.2.0 + PCL 1.10 环境配置
一、VTK 编译和安装
1、库依赖:
# X11
sudo apt-get install libx11-dev libxext-dev libxtst-dev libxrender-dev libxmu-dev libxmuu-dev
# OpenGL
sudo apt-get install build-essential libgl1-mesa-dev libglu1-mesa-dev
# cmake && cmake-gui
sudo apt-get install cmake cmake-gui
sudo apt install -y libxt-dev
sudo apt install -y cmake-qt-gui
sudo apt install build-essential cmake
2、下载资源:下载VTK8.2.0
3、编译:
创建build文件夹
cd VTK-8.2.0
mkdir build
cd build
使用cmake-gui编译:设置源码目录和输出目录,勾选Group和Adavanced,点击configure,按下图设置
cmake-gui
第一次点击configure后,勾选“VTK-Group-Qt”,点击“Configure”;完成后,显示“Configuring done”; 最后点击“Generate”;显示“Generating done”,完成。
4、安装
make -j4
sudo make install
5、qtcreator 配置编译的libQVTKWidgetPlugin.so
libQVTKWidgetPlugin.so 路径/build/lib cd ./lib
添加到qtcreator中,libQVTKWidgetPlugin.so复制到qt路径下, sudo cp libQVTKWidgetPlugin.so /home/ljn/Qt5.14.2/Tools/QtCreator/lib/Qt/plugins/designer
二、PCL安装
1、一键安装
sudo apt install libpcl-dev
会默认安装 vtk 和 eigne,后面我使用的是自己安装的vtk-8.2,默认安装目录在 /usr/local/include
2、测试
文件结构 CMakeLists.txt cmake_minimum_required(VERSION 2.6)
project(pcl_test)
find_package(PCL 1.10 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable(pcl_test pcl_test.cpp)
target_link_libraries (pcl_test ${PCL_LIBRARIES})
install(TARGETS pcl_test RUNTIME DESTINATION bin)
pcl_test.cpp
#include
#include
#include
#include
#include
#include
int main(int argc, char **argv) {
std::cout << "Test PCL !!!" << std::endl;
pcl::PointCloud
uint8_t r(255), g(15), b(15);
for (float z(-1.0); z <= 1.0; z += 0.05)
{
for (float angle(0.0); angle <= 360.0; angle += 5.0)
{
pcl::PointXYZRGB point;
point.x = 0.5 * cosf (pcl::deg2rad(angle));
point.y = sinf (pcl::deg2rad(angle));
point.z = z;
uint32_t rgb = (static_cast
static_cast
point.rgb = *reinterpret_cast
point_cloud_ptr->points.push_back (point);
}
if (z < 0.0)
{
r -= 12;
g += 12;
}
else
{
g -= 12;
b += 12;
}
}
point_cloud_ptr->width = (int) point_cloud_ptr->points.size ();
point_cloud_ptr->height = 1;
pcl::visualization::CloudViewer viewer ("test");
viewer.showCloud(point_cloud_ptr);
while (!viewer.wasStopped()){ };
return 0;
}
编译测试 mkdir build
cd build
cmake ..
make
./pcl_text
运行结果
三、qt 中使用 vtk 显示点云图
1、pro 中引入依赖
根据自身安装的版本引入相关依赖
INCLUDEPATH += /usr/include/boost
LIBS += /usr/lib/x86_64-linux-gnu/libboost_*.so
INCLUDEPATH += /usr/include/pcl-1.10/
LIBS += /usr/lib/x86_64-linux-gnu/libpcl_*.so
INCLUDEPATH += /usr/include/vtk-7.1
LIBS += /usr/lib/x86_64-linux-gnu/libvtk*.so
INCLUDEPATH += /usr/include/eigen3
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