Qt PCL学习（二）：点云读取与保存

注意事项

版本一览：Qt 5.15.2 + PCL 1.12.1 + VTK 9.1.0
前置内容：Qt PCL学习（一）：环境搭建

0. 效果演示

在这里插入图片描述

1. pcl_open_save.pro

QT       += core guigreaterThan(QT_MAJOR_VERSION, 4): QT += widgets// 添加下行代码（根据自己安装目录进行修改）
include(D:/PCL1.12.1/pcl1.12.1.pri)

2. mainwindow.h

#ifndef MAINWINDOW_H
#define MAINWINDOW_H#include <QMainWindow>
#include <QDebug>
#include <QColorDialog>
#include <QMessageBox>
#include <QFileDialog>
#include <QTime>
#include <QDir>
#include <QFile>
#include <QtMath>
#include <QWindow>
#include <QAction>
#include <QHBoxLayout>
#include <QVBoxLayout>
#include <QIcon>
#include <QMenuBar>
#include <QMenu>
#include <QToolBar>
#include <QStatusBar>
#include <QFont>
#include <QString>
#include <QTextBrowser>#include <QVTKOpenGLNativeWidget.h>
#include <vtkGenericOpenGLRenderWindow.h>
#include <vtkRenderWindow.h>
#include <vtkAutoInit.h>#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/visualization/pcl_visualizer.h>typedef pcl::PointXYZ PointT;
typedef pcl::PointCloud<PointT> PointCloudT;
typedef pcl::visualization::PCLVisualizer PCLViewer;
typedef std::shared_ptr<PointCloudT> PointCloudPtr;VTK_MODULE_INIT(vtkRenderingOpenGL2)
VTK_MODULE_INIT(vtkInteractionStyle)
VTK_MODULE_INIT(vtkRenderingFreeType)QT_BEGIN_NAMESPACE
namespace Ui { class MainWindow; }
QT_END_NAMESPACEclass MainWindow : public QMainWindow {Q_OBJECTpublic:MainWindow(QWidget *parent = nullptr);~MainWindow();private slots:void open_clicked();void save_clicked();private:Ui::MainWindow *ui;PointCloudPtr cloudptr;PCLViewer::Ptr cloud_viewer;
};
#endif // MAINWINDOW_H

3. mainwindow.cpp

#pragma execution_character_set("utf-8")#include "mainwindow.h"
#include "ui_mainwindow.h"MainWindow::MainWindow(QWidget *parent) : QMainWindow(parent), ui(new Ui::MainWindow) {ui->setupUi(this);// 设置窗口标题和 logothis->setWindowTitle("CloudOne");this->setWindowIcon(QIcon(":/resourse/icon.ico"));// 初始化点云数据 cloudptrcloudptr.reset(new PointCloudT);// 创建菜单栏QMenuBar *menu_bar = new QMenuBar(this);this->setMenuBar(menu_bar);menu_bar->setStyleSheet("font-size : 16px");// 1、File 下拉列表QMenu *file_menu = new QMenu("File", menu_bar);QAction *open_action = new QAction("Open File");QAction *save_action = new QAction("Save File");QAction *exit_action = new QAction("Exit");// 添加动作到文件菜单file_menu->addAction(open_action);file_menu->addAction(save_action);file_menu->addSeparator();  // 添加菜单分隔符将 exit 单独隔离开file_menu->addAction(exit_action);// 把 File 添加到菜单栏menu_bar->addMenu(file_menu);// 信号与槽函数链接connect(open_action, SIGNAL(triggered()), this, SLOT(open_clicked()));  // 打开文件connect(save_action, SIGNAL(triggered()), this, SLOT(save_clicked()));  // 保存文件connect(exit_action, SIGNAL(triggered()), this, SLOT(close()));         // 退出
}MainWindow::~MainWindow() {delete ui;
}void MainWindow::open_clicked() {// this:代表当前对话框的父对象；tr("open file"):作为对话框的标题显示在标题栏中，使用 tr 函数表示这是一个需要翻译的文本// "":代表对话框的初始目录，这里为空表示没有指定初始目录// tr("pcb files(*.pcd *.ply *.txt) ;;All files (*.*)"):过滤器，决定在对话框中只能选择指定类型的文件QString fileName = QFileDialog::getOpenFileName(this, tr("open  file"), "", tr("point cloud files(*.pcd *.ply) ;; All files (*.*)"));if (fileName.isEmpty()) {return;}if (fileName.endsWith("ply")) {qDebug() << fileName;if (pcl::io::loadPLYFile(fileName.toStdString(), *cloudptr) == -1) {qDebug() << "Couldn't read .ply file \n";return ;}} else if (fileName.endsWith("pcd")) {qDebug() << fileName;if (pcl::io::loadPCDFile(fileName.toStdString(), *cloudptr) == -1) {qDebug() << "Couldn't read .pcd file \n";return;}} else {QMessageBox::warning(this, "Warning", "Wrong format!");}// 创建 PCLViewer 对象并设置窗口标题cloud_viewer.reset(new PCLViewer("Viewer"));cloud_viewer->setShowFPS(true);// 将 cloud_viewer 的渲染窗口嵌入到 QWidget 中auto viewerWinId = QWindow::fromWinId((WId)cloud_viewer->getRenderWindow()->GetGenericWindowId());QWidget *widget = QWidget::createWindowContainer(viewerWinId, nullptr);// 创建 QVBoxLayout 对象并将 QWidget 添加到其中QVBoxLayout *mainLayout = new QVBoxLayout;mainLayout->addWidget(widget);centralWidget()->setLayout(mainLayout);// 设置颜色处理器，将点云数据添加到 cloud_viewer 中const std::string axis = "z";pcl::visualization::PointCloudColorHandlerGenericField<PointT> color_handler(cloudptr, axis);cloud_viewer->addPointCloud(cloudptr, color_handler, "cloud");cloud_viewer->addPointCloud(cloudptr, "cloud");
}void MainWindow::save_clicked() {int return_status;QString filename = QFileDialog::getSaveFileName(this, tr("Open point cloud"), "", tr("Point cloud data (*.pcd *.ply)"));if (cloudptr->empty()) {return;} else {if (filename.isEmpty()) {return;}if (filename.endsWith(".pcd", Qt::CaseInsensitive)) {return_status = pcl::io::savePCDFileBinary(filename.toStdString(), *cloudptr);} else if (filename.endsWith(".ply", Qt::CaseInsensitive)) {return_status = pcl::io::savePLYFileBinary(filename.toStdString(), *cloudptr);} else {filename.append(".ply");return_status = pcl::io::savePLYFileBinary(filename.toStdString(), *cloudptr);}if (return_status != 0) {PCL_ERROR("Error writing point cloud %s\n", filename.toStdString().c_str());return;}}
}