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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 <iostream>
  #include <pcl/common/common_headers.h>
  #include <pcl/io/pcd_io.h>
  #include <pcl/visualization/pcl_visualizer.h>
  #include <pcl/visualization/cloud_viewer.h>
  #include <pcl/console/parse.h>
   
   
  int main(int argc, char **argv) {
      std::cout << "Test PCL !!!" << std::endl;
      
      pcl::PointCloud<pcl::PointXYZRGB>::Ptr point_cloud_ptr (new pcl::PointCloud<pcl::PointXYZRGB>);
      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<uint32_t>(r) << 16 |
  		static_cast<uint32_t>(g) << 8 | static_cast<uint32_t>(b));
  	point.rgb = *reinterpret_cast<float*>(&rgb);
  	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