ubuntu查看pcl版本_【PCL笔记】Visualization in Qt

最新推荐文章于 2025-06-22 16:51:56 发布

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最新推荐文章于 2025-06-22 16:51:56 发布

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文章标签： ubuntu查看pcl版本查看pcl版本

本文介绍了如何在Ubuntu上安装配置Qt 5.14.0、VTK 8.2.0以及PCL，并在Qt环境中使用VTK创建PCL可视化器。通过详细步骤，展示了从下载安装到项目配置，最终实现点云颜色和大小调整的功能。在实际操作中可能遇到的链接库错误，也提供了相应的解决办法。

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1. Qt 安装配置

从 Index of /archive/qt 中下载 Qt，假设版本为 5.14.0，并安装在 /opt 路径下；
设置系统默认 Qt 版本；

# 查看系统默认 qt 版本
qmake -v

# 修改系统默认 qt 版本
cd /usr/lib/x86_64-linux-gnu/qt-default/qtchooser
sudo vim default.conf

# 将下面内容
/usr/lib/x86_64-linux-gnu/qt4/bin
/usr/lib/x86_64-linux-gnu

# 修改为
/opt/Qt5.14.0/5.14.0/gcc_64/bin
/opt/Qt5.14.0/5.14.0/gcc_64

# 再次查看 qt 版本
qmake -v

添加到环境变量

sudo vim /etc/profile

# 添加如下内容
export PATH=/opt/Qt5.14.0/Tools/QtCreator/bin:$PATH
export PATH=/opt/Qt5.14.0/5.14.0/gcc_64/bin:$PATH

# 刷新环境
sudo source /etc/profile

2. VTK 安装配置

从 https://vtk.org/download/ 下载 VTK 源代码并解压，假设版本为 8.2.0，解压路径为 ~/software；
编译安装；

cd ~/software/VTK-8.2.0
mkdir build && cd build

cmake -DVTK_QT_VERSION:STRING=5 
-DVTK_Group_Qt:BOOL=ON 
-DBUILD_SHARED_LIBS:BOOL=ON 
-DQT_QMAKE_EXECUTABLE:PATH=/opt/Qt5.14.0/5.14.0/gcc_64/bin/qmake 
-DCMAKE_PREFIX_PATH:PATH=/opt/Qt5.14.0/5.14.0/gcc_64/lib/cmake ..

make -j8
sudo make install

生成 QVTKWidget 控件

cd ~/software/VTK-8.2.0/build/lib
sudo cp ./libQVTKWidgetPlugin.so /opt/Qt5.14.0/5.14.0/gcc_64/plugins/designer
sudo cp ./libQVTKWidgetPlugin.so /opt/Qt5.14.0/Tools/QtCreator/lib/Qt/plugins/designer

重启 Qt 软件，便能看到 QVTKWidget 控件了。

3. PCL + Qt + VTK 实践

参考：Create a PCL visualizer in Qt with cmake

从 Github 中下载源码（或者从自己本地的 PCL 目录中拷贝，pcl/doc/tutorials/content/sources/qt_visualizer）

项目目录结构如下：

├── build
└── src
    ├── CMakeLists.txt
    ├── main.cpp
    ├── pclviewer.cpp
    ├── pclviewer.h
    ├── pclviewer.ui
    └── pcl_visualizer.pro

在 Qt 中打开此项目，并进行配置：在左侧边栏选择 projects，按下图进行配置，主要是将 qmake 换成 cmake，然后配置路径等；

运行结果如下，实现的效果是可以改变点云的颜色和大小

pclviewer.h

#ifndef PCLVIEWER_H
#define PCLVIEWER_H

#include <iostream>
#include <QMainWindow>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>

// Visualization Toolkit (VTK)
#include <vtkRenderWindow.h>

typedef pcl::PointXYZRGBA PointT;
typedef pcl::PointCloud<PointT> PointCloudT;

namespace Ui {class PCLViewer;}

class PCLViewer : public QMainWindow
{
  Q_OBJECT

public:
  explicit PCLViewer (QWidget *parent = 0);
  ~PCLViewer ();

public Q_SLOTS:

  void randomButtonPressed ();
  void RGBsliderReleased ();
  void pSliderValueChanged (int value);
  void redSliderValueChanged (int value);
  void greenSliderValueChanged (int value);
  void blueSliderValueChanged (int value);

protected:
  boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
  PointCloudT::Ptr cloud;
  unsigned int red;
  unsigned int green;
  unsigned int blue;

private:
  Ui::PCLViewer *ui;
};

#endif // PCLVIEWER_H

pclviewer.cpp

#include "pclviewer.h"
#include "ui_pclviewer.h"

PCLViewer::PCLViewer (QWidget *parent) : QMainWindow (parent), ui (new Ui::PCLViewer)
{
  ui->setupUi (this);
  this->setWindowTitle ("PCL viewer");

  // Setup the cloud pointer
  cloud.reset (new PointCloudT);
  // The number of points in the cloud
  cloud->points.resize (200);

  // The default color
  red = 128; green = 128; blue = 128;

  // Fill the cloud with some points
  for (size_t i = 0; i < cloud->points.size (); ++i)
  {
    cloud->points[i].x = 1024 * rand () / (RAND_MAX + 1.0f);
    cloud->points[i].y = 1024 * rand () / (RAND_MAX + 1.0f);
    cloud->points[i].z = 1024 * rand () / (RAND_MAX + 1.0f);

    cloud->points[i].r = red;
    cloud->points[i].g = green;
    cloud->points[i].b = blue;
  }

  // Set up the QVTK window
  viewer.reset (new pcl::visualization::PCLVisualizer ("viewer", false));
  ui->qvtkWidget->SetRenderWindow (viewer->getRenderWindow ());
  viewer->setupInteractor (ui->qvtkWidget->GetInteractor (), ui->qvtkWidget->GetRenderWindow ());
  ui->qvtkWidget->update ();

  // Connect "random" button and the function
  connect (ui->pushButton_random,  SIGNAL (clicked ()), this, SLOT (randomButtonPressed ()));

  // Connect R,G,B sliders and their functions
  connect (ui->horizontalSlider_R, SIGNAL (valueChanged (int)), this, SLOT (redSliderValueChanged (int)));
  connect (ui->horizontalSlider_G, SIGNAL (valueChanged (int)), this, SLOT (greenSliderValueChanged (int)));
  connect (ui->horizontalSlider_B, SIGNAL (valueChanged (int)), this, SLOT (blueSliderValueChanged (int)));
  connect (ui->horizontalSlider_R, SIGNAL (sliderReleased ()), this, SLOT (RGBsliderReleased ()));
  connect (ui->horizontalSlider_G, SIGNAL (sliderReleased ()), this, SLOT (RGBsliderReleased ()));
  connect (ui->horizontalSlider_B, SIGNAL (sliderReleased ()), this, SLOT (RGBsliderReleased ()));

  // Connect point size slider
  connect (ui->horizontalSlider_p, SIGNAL (valueChanged (int)), this, SLOT (pSliderValueChanged (int)));

  viewer->addPointCloud (cloud, "cloud");
  pSliderValueChanged (2);
  viewer->resetCamera ();
  ui->qvtkWidget->update ();
}

void PCLViewer::randomButtonPressed ()
{
  printf ("Random button was pressedn");

  // Set the new color
  for (size_t i = 0; i < cloud->size(); i++)
  {
    cloud->points[i].r = 255 *(1024 * rand () / (RAND_MAX + 1.0f));
    cloud->points[i].g = 255 *(1024 * rand () / (RAND_MAX + 1.0f));
    cloud->points[i].b = 255 *(1024 * rand () / (RAND_MAX + 1.0f));
  }

  viewer->updatePointCloud (cloud, "cloud");
  ui->qvtkWidget->update ();
}

void PCLViewer::RGBsliderReleased ()
{
  // Set the new color
  for (size_t i = 0; i < cloud->size (); i++)
  {
    cloud->points[i].r = red;
    cloud->points[i].g = green;
    cloud->points[i].b = blue;
  }
  viewer->updatePointCloud (cloud, "cloud");
  ui->qvtkWidget->update ();
}

void PCLViewer::pSliderValueChanged (int value)
{
  viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, value, "cloud");
  ui->qvtkWidget->update ();
}

void PCLViewer::redSliderValueChanged (int value)
{
  red = value;
  printf ("redSliderValueChanged: [%d|%d|%d]n", red, green, blue);
}

void PCLViewer::greenSliderValueChanged (int value)
{
  green = value;
  printf ("greenSliderValueChanged: [%d|%d|%d]n", red, green, blue);
}

void PCLViewer::blueSliderValueChanged (int value)
{
  blue = value;
  printf("blueSliderValueChanged: [%d|%d|%d]n", red, green, blue);
}

PCLViewer::~PCLViewer ()
{
  delete ui;
}

在某些应用场合中会出现以下错误：

error while loading shared libraries: libvtkCommonCore-8.2.so.1: cannot open shared object file: No such file or directory

但我发现在 /usr/local/lib 目录下是有 libvtkCommonCore-8.2.so.1 这个共享文件的，应该是没有将 /usr/local/lib 这个路径加入到共享库配置文件（/etc/ld.so.conf）中。

cat /etc/ld.so.conf
# 显示：include ld.so.conf.d/*.conf

# 修改权限
sudo chmod 777 /etc/ld.so.conf
# 将 /usr/local/lib 路径追加到 /etc/ld.so.conf 文件中
sudo echo "/usr/local/lib" >> /etc/ld.so.conf

sudo ldconfig

参考："error while loading shared libraries: xxx.so.x" 错误的原因和解决方法