由于我电脑中有 QT5.12.6 VS2017，就不介绍怎么安装了，只介绍cmake，pcl及vtk的配置步骤

为了便于后续QT的调用，以下所有安装路径中均不能出现中文及空格等

PCL自带VTK是不完整的，所以需要下载VTK源码进行重新编译使其支持QT。

一：资源链接：

【免费】pcl1.9.1vtk8.1.1cmake3.14.2用于win1064位下，vs2017qt5.12.6资源-CSDN文库https://download.csdn.net/download/u012719076/88146824

资源内容：

 PCL 1.9.1版本对应的VTK版本为8.1，

我选择的VTK 8.1.1版本

先将上述4个文件下载，将所有压缩包解压

二、Cmake安装

点击cmake-3.14.2-win64-x64.msi  按照指示进行操作

注意： 安装路径我没有选择默认路径，我的路径为：D:\ProgramFiles\Cmake

三、pcl安装

(一) PCL-1.9.1-AllInOne-msvc2017-win64.exe 的安装

 1. 双击exe，前两步默认，第三步：选择   Add PCL to the system PATH for all users

2.安装路径 D:\ProgramFiles\PCL\PCL1.9.1 -注意不能有空格

随后步骤 安装路径：我选择了 ： D:\ProgramFiles\PCL，

自动生成路径：D:\ProgramFiles\PCL\PCL 1.9.1     注意：这个路径中是有空格的，qt中路径不能识别带空格路径，所以，要把这个空格去掉

最后安装路径为： D:\ProgramFiles\PCL\PCL1.9.1

3. 选择组件时，全部选择--按照默认即可

 4.OpenNI的安装

PCL安装快结束时，会弹出来安装第三方库，我的安装路径为：

D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\OpenNI2 其他按照默认安装即可

(二)解压，拷贝 

解压  pcl-1.9.1-pdb-msvc2017-win64.zip 将所有的pdb文件拷贝到pcl的安装路径下即可

D:\ProgramFiles\PCL\PCL1.9.1\bin

注意：pcl中的vtk不用改动，因为pcl1.9.1中的vtk为8.1.1，与Qt中配置的vtk版本一致

至此PCL安装结束

四、vtk编译

(一)编译步骤：

步骤主要参考下面两篇文章

VS2015 + PCL1.8.0 + QT_5.62 + cmake3.82 编译VTK7.1，生成QVTKWidgetPlugin.dll_恭勤不倦的博客-CSDN博客https://blog.csdn.net/ktony_90/article/details/77966904VTK8.2.0编译安装与测试用例运行（win10 + VS2017 + Qt5，Release+Debug）_vtk 编译时怎么打开测试程序_LiveAn的博客-CSDN博客https://blog.csdn.net/anhec/article/details/86777302

vs+qt+vtk+pcl+cmake下载、安装、配置以及过程中存在的一系列问题解决_vs安装vtk_ych什么都不会的博客-CSDN博客https://blog.csdn.net/m0_74195873/article/details/129910816

0. 先建2个空文件夹用来存放vtk编译程序和安装程序--在想要的安装路径下

 1.以管理员的方式打开cmake，选择好源码路径、编译路径、勾选 Advanced

VS2017+Qt5.12.0+PCL1.9.1开发环境配置过程详细记录_小龙就是爱学习的博客-CSDN博客

可参考这个设置 类型 

（1）点击Add Entry，添加CMAKE_PREFIX_PATH，类型为“PATH”，设置为QT的安装路径。
（2）点击Add Entry，添加CMAKE_DEBUG_POSTFIX，设置为"_d"。用来区分debug与release版本下的dll和lib文件，不然的话创建安装文件的时候debug与release版本，名字相同相互覆盖。

应该选 string  ；我选错了，选了filepath

（3）然后点击  config ， 选择 vs2017---x64  其他默认，  配置好后，会冒出一堆红，不要怕，继续。。

 2. 勾选-配置--再次 config
 

 勾选BUILD_SHARED_LIBS，使生成VTK的lib与dll
勾选BUILD_EXAMPLES，使编译生成一些

​勾选VTK_Group_Qt，让VTK支持Qt Application

设置CMAKE_INSTALL_PREFIX目录为VTK安装目录(D:\ProgramFiles\VTK\VTK811\install)

3.确认路径及 再次 config

2步骤点击config后，红色缺少少了很多，这一步主要是请确认红色变量的路径(Qt路径，Examples路径)是否正确，以及Qt的版本是否为5

 此步点击config后，虽然显示config done  还是有红的，确认后再次点击config，直到没有红色的出现

4. 点击Generate

在编译路径builid下 生成vtk工程

(二) vs生成lib与dll

1.打开 vtk工程

用管理员模式打开VS2017， 然后打开工程 VTK.sln

路径在 D:\ProgramFiles\VTK\VTK811\build  

2.debug模式下

(1).编译ALL-BUILD工程  

选择 debug  x64模式， 点击 ALL-BUILD工程， 生成---重新生成ALL-BUILD    编译过程大概一小时

 经过一个小时左右编译结果如下

269>------ 已启动全部重新生成: 项目: ALL_BUILD, 配置: Debug x64 ------
269>Building Custom Rule D:/software/pcl/vtk-v8.1.1/vtk-v8.1.1/CMakeLists.txt
269>CMake does not need to re-run because D:/ProgramFiles/VTK/VTK811/build/CMakeFiles/generate.stamp is up-to-date.
========== 全部重新生成: 成功 268 个，失败 1 个，跳过 0 个 ==========

失败的是： 我没管，继续编译install了

0>CMake Error at D:/ProgramFiles/Cmake/share/cmake-3.14/Modules/ExternalData.cmake:1121 (message):
30>
30>
30>  Object MD5=6424e2a51d932a5c93c361c14c3c4c49 not found at:
30>
30>    http://midas3.kitware.com/midas/api/rest?method=midas.bitstream.download&checksum=6424e2a51d932a5c93c361c14c3c4c49&algorithm=MD5 ("HTTP response code said error")
30>    http://www.vtk.org/files/ExternalData/MD5/6424e2a51d932a5c93c361c14c3c4c49 ("Timeout was reached")
30>
30>
30>C:\Program Files (x86)\Microsoft Visual Studio\2017\Community\Common7\IDE\VC\VCTargets\Microsoft.CppCommon.targets(209,5): error MSB6006: “cmd.exe”已退出，代码为 1。

(2).编译 INSTALL工程

点击INSTALL 工程，鼠标右击，依次选择  “仅用于项目  ->   仅生成INSTALL”

编译成功后，在VTK的安装路径下D:\ProgramFiles\VTK\VTK811\install

能看到如下信息，dll与 lib 均带_d

（3) 将上述文件夹放在新建的debug下，然后重新弄release模式下的

3.release下

选择 release--x64

(1)ALL-BUILD工程  

点击ALL-BUILD 右键  选择 生成     

编译了大概半小时，  生成: 成功 268 个，失败 1 个，最新 0 个，跳过 0 个 ==========

还是失败还是 cmake

(2). INSTALL工程

点击INSTALL 工程，鼠标右击，依次选择  “仅用于项目  ->   仅生成INSTALL”

编译成功后，在VTK的安装路径下D:\ProgramFiles\VTK\VTK811\install

能看到如下信息，dll与 lib 均不带_d

(3) 将生成的release下所有文件拷贝到新建文件夹下

(4)dll拷贝到QT的designer路径下

将 release版  QVTKWidgetPlugin.dll（必须是release版的），添加到你的QT的designer的路径下，D:\QT\5.12.6\msvc2017_64\plugins\designer

就可以在msvc2017_64版本的Qt Designer中添加QVTKWidget控件了

(三)测试vtk

测试vtk是否编译成功，VTK工程中，选择 cube工程，右键，设为 启动项目，

然后点击运行，会出现如下图所示

同理，也可以测试： Cone6工程，测试是圆锥

 五、环境变量设置

(一)PCL系统环境变量配置

系统环境变量path中新添加以下几个变量值

//用下面的
D:\ProgramFiles\PCL\PCL1.9.1\bin
D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\Boost\lib
D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\FLANN\bin
D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\Qhull\bin
D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\OpenNI2\Lib
D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\OpenNI2\Redist
D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\OpenNI2\Tools

注意：

注意：pcl中的vtk不用改动，因为pcl1.9.1中的vtk为8.1.1，与Qt中配置的vtk版本一致

(二)vtk环境变量设置

将vtk配置到系统的环境变量中

D:\ProgramFiles\VTK\VTK811\install\debug\bin
D:\ProgramFiles\VTK\VTK811\install\release\bin

六： qt createtor设计器中 是没有QVTKWidget

打开了我的qt creator 发面 ui界面是没有QVTKWidget的，但是单独打开 designer 发现里面是有的

参考：Windows10下QT+VTK+PCL环境配置（一次成功）_qt pcl_v俊逸的博客-CSDN博客

没有问题 Qt creator不会显示QVTK，但是Qt Designer中有，使用过程中不会影响。这是个历史遗留问题 Qt一直没解决。

打开单独的qt designer，在左下角就会出现啦 

七、Qt-PCL测试

由于测试vtk时出现了问题，就先测试下pcl看安装是否成功

(一)查看文件夹下所有_d.lib文件

获取某一文件夹下文件名的批处理步骤：

获取某一文件夹下文件名的批处理步骤：
新建一个1.txt，输入如下命令：
dir /a-d /b *>scr.txt
再将1.txt后缀名改为.bat即1.bat，运行就会生成一个scr.txt，
里面存放的是文件名，复制所有.lib文件名（即去掉1.bat和scr.txt）到附加依赖项即可完成配置。

(二)qt中pro文件配置

CONFIG += debug_and_releaseINCLUDEPATH += D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\Boost\include\boost-1_68
INCLUDEPATH += D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\Boost\include\boost-1_68\boost
INCLUDEPATH += D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\Eigen\eigen3
INCLUDEPATH += D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\FLANN\include
INCLUDEPATH += D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\FLANN\include\flann
INCLUDEPATH += D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\Qhull\include
INCLUDEPATH += D:\ProgramFiles\PCL\PCL1.9.1\3rdParty\OpenNI2\Include
INCLUDEPATH += D:\ProgramFiles\PCL\PCL1.9.1\include\pcl-1.9message("peizhi")CONFIG(debug,debug|release){message("debug pro")
INCLUDEPATH += D:\ProgramFiles\VTK\VTK811\install\debug\include\vtk-8.1
LIBS += -LD:\ProgramFiles\PCL\PCL1.9.1\lib\-lpcl_common_debug\-lpcl_features_debug\-lpcl_filters_debug\-lpcl_io_debug\-lpcl_io_ply_debug\-lpcl_kdtree_debug\-lpcl_keypoints_debug\-lpcl_ml_debug\-lpcl_octree_debug\-lpcl_outofcore_debug\-lpcl_people_debug\-lpcl_recognition_debug\-lpcl_registration_debug\-lpcl_sample_consensus_debug\-lpcl_search_debug\-lpcl_segmentation_debug\-lpcl_stereo_debug\-lpcl_surface_debug\-lpcl_tracking_debug\-lpcl_visualization_debugLIBS += -LD:\ProgramFiles\PCL\PCL1.9.1\3rdParty\Boost\lib\-llibboost_atomic-vc141-mt-gd-x64-1_68\-llibboost_bzip2-vc141-mt-gd-x64-1_68\-llibboost_chrono-vc141-mt-gd-x64-1_68\-llibboost_container-vc141-mt-gd-x64-1_68\-llibboost_context-vc141-mt-gd-x64-1_68\-llibboost_coroutine-vc141-mt-gd-x64-1_68\-llibboost_date_time-vc141-mt-gd-x64-1_68\-llibboost_exception-vc141-mt-gd-x64-1_68\-llibboost_fiber-vc141-mt-gd-x64-1_68\-llibboost_filesystem-vc141-mt-gd-x64-1_68\-llibboost_graph-vc141-mt-gd-x64-1_68\-llibboost_graph_parallel-vc141-mt-gd-x64-1_68\-llibboost_iostreams-vc141-mt-gd-x64-1_68\-llibboost_locale-vc141-mt-gd-x64-1_68\-llibboost_log-vc141-mt-gd-x64-1_68\-llibboost_log_setup-vc141-mt-gd-x64-1_68\-llibboost_math_c99-vc141-mt-gd-x64-1_68\-llibboost_math_c99f-vc141-mt-gd-x64-1_68\-llibboost_math_c99l-vc141-mt-gd-x64-1_68\-llibboost_math_tr1-vc141-mt-gd-x64-1_68\-llibboost_math_tr1f-vc141-mt-gd-x64-1_68\-llibboost_math_tr1l-vc141-mt-gd-x64-1_68\-llibboost_mpi-vc141-mt-gd-x64-1_68\-llibboost_numpy27-vc141-mt-gd-x64-1_68\-llibboost_numpy37-vc141-mt-gd-x64-1_68\-llibboost_prg_exec_monitor-vc141-mt-gd-x64-1_68\-llibboost_program_options-vc141-mt-gd-x64-1_68\-llibboost_python27-vc141-mt-gd-x64-1_68\-llibboost_python37-vc141-mt-gd-x64-1_68\-llibboost_random-vc141-mt-gd-x64-1_68\-llibboost_regex-vc141-mt-gd-x64-1_68\-llibboost_serialization-vc141-mt-gd-x64-1_68\-llibboost_signals-vc141-mt-gd-x64-1_68\-llibboost_system-vc141-mt-gd-x64-1_68\-llibboost_test_exec_monitor-vc141-mt-gd-x64-1_68\-llibboost_thread-vc141-mt-gd-x64-1_68\-llibboost_timer-vc141-mt-gd-x64-1_68\-llibboost_type_erasure-vc141-mt-gd-x64-1_68\-llibboost_unit_test_framework-vc141-mt-gd-x64-1_68\-llibboost_wave-vc141-mt-gd-x64-1_68\-llibboost_wserialization-vc141-mt-gd-x64-1_68\-llibboost_zlib-vc141-mt-gd-x64-1_68LIBS += -LD:\ProgramFiles\PCL\PCL1.9.1\3rdParty\FLANN\lib\-lflann-gd\-lflann_cpp-gd\-lflann_cpp_s-gd\-lflann_s-gdLIBS += -LD:\ProgramFiles\PCL\PCL1.9.1\3rdParty\OpenNI2\Lib\ -lOpenNI2LIBS += -LD:\ProgramFiles\PCL\PCL1.9.1\3rdParty\Qhull\lib\-lqhull_d\-lqhullcpp_d\-lqhullstatic_d\-lqhullstatic_r_d\-lqhull_p_d\-lqhull_r_dLIBS += -LD:\ProgramFiles\VTK\VTK811\install\debug\lib\-lvtkalglib-8.1_d\-lvtkChartsCore-8.1_d\-lvtkCommonColor-8.1_d\-lvtkCommonComputationalGeometry-8.1_d\-lvtkCommonCore-8.1_d\-lvtkCommonDataModel-8.1_d\-lvtkCommonExecutionModel-8.1_d\-lvtkCommonMath-8.1_d\-lvtkCommonMisc-8.1_d\-lvtkCommonSystem-8.1_d\-lvtkCommonTransforms-8.1_d\-lvtkDICOMParser-8.1_d\-lvtkDomainsChemistry-8.1_d\-lvtkexoIIc-8.1_d\-lvtkexpat-8.1_d\-lvtkFiltersAMR-8.1_d\-lvtkFiltersCore-8.1_d\-lvtkFiltersExtraction-8.1_d\-lvtkFiltersFlowPaths-8.1_d\-lvtkFiltersGeneral-8.1_d\-lvtkFiltersGeneric-8.1_d\-lvtkFiltersGeometry-8.1_d\-lvtkFiltersHybrid-8.1_d\-lvtkFiltersHyperTree-8.1_d\-lvtkFiltersImaging-8.1_d\-lvtkFiltersModeling-8.1_d\-lvtkFiltersParallel-8.1_d\-lvtkFiltersParallelImaging-8.1_d\-lvtkFiltersPoints-8.1_d\-lvtkFiltersProgrammable-8.1_d\-lvtkFiltersSelection-8.1_d\-lvtkFiltersSMP-8.1_d\-lvtkFiltersSources-8.1_d\-lvtkFiltersStatistics-8.1_d\-lvtkFiltersTexture-8.1_d\-lvtkFiltersTopology-8.1_d\-lvtkFiltersVerdict-8.1_d\-lvtkfreetype-8.1_d\-lvtkGeovisCore-8.1_d\-lvtkgl2ps-8.1_d\-lvtkglew-8.1_d\-lvtkGUISupportQt-8.1_d\
#        -lvtkGUISupportQtOpenGL2-8.1_d\-lvtkGUISupportQtSQL-8.1_d\-lvtkhdf5-8.1_d\-lvtkhdf5_hl-8.1_d\-lvtkImagingColor-8.1_d\-lvtkImagingCore-8.1_d\-lvtkImagingFourier-8.1_d\-lvtkImagingGeneral-8.1_d\-lvtkImagingHybrid-8.1_d\-lvtkImagingMath-8.1_d\-lvtkImagingMorphological-8.1_d\-lvtkImagingSources-8.1_d\-lvtkImagingStatistics-8.1_d\-lvtkImagingStencil-8.1_d\-lvtkInfovisCore-8.1_d\-lvtkInfovisLayout-8.1_d\-lvtkInteractionImage-8.1_d\-lvtkInteractionStyle-8.1_d\-lvtkInteractionWidgets-8.1_d\-lvtkIOAMR-8.1_d\-lvtkIOCore-8.1_d\-lvtkIOEnSight-8.1_d\-lvtkIOExodus-8.1_d\-lvtkIOExport-8.1_d\-lvtkIOExportOpenGL2-8.1_d\-lvtkIOGeometry-8.1_d\-lvtkIOImage-8.1_d\-lvtkIOImport-8.1_d\-lvtkIOInfovis-8.1_d\-lvtkIOLegacy-8.1_d\-lvtkIOLSDyna-8.1_d\-lvtkIOMINC-8.1_d\-lvtkIOMovie-8.1_d\-lvtkIONetCDF-8.1_d\-lvtkIOParallel-8.1_d\-lvtkIOParallelXML-8.1_d\-lvtkIOPLY-8.1_d\-lvtkIOSQL-8.1_d\-lvtkIOTecplotTable-8.1_d\-lvtkIOVideo-8.1_d\-lvtkIOXML-8.1_d\-lvtkIOXMLParser-8.1_d\-lvtkjpeg-8.1_d\-lvtkjsoncpp-8.1_d\-lvtklibharu-8.1_d\-lvtklibxml2-8.1_d\-lvtklz4-8.1_d\-lvtkmetaio-8.1_d\-lvtkNetCDF-8.1_d\-lvtknetcdfcpp-8.1_d\-lvtkoggtheora-8.1_d\-lvtkParallelCore-8.1_d\-lvtkpng-8.1_d\-lvtkproj4-8.1_d\-lvtkRenderingAnnotation-8.1_d\-lvtkRenderingContext2D-8.1_d\-lvtkRenderingContextOpenGL2-8.1_d\-lvtkRenderingCore-8.1_d\-lvtkRenderingFreeType-8.1_d\-lvtkRenderingGL2PSOpenGL2-8.1_d\-lvtkRenderingImage-8.1_d\-lvtkRenderingLabel-8.1_d\-lvtkRenderingLOD-8.1_d\-lvtkRenderingOpenGL2-8.1_d\-lvtkRenderingQt-8.1_d\-lvtkRenderingVolume-8.1_d\-lvtkRenderingVolumeOpenGL2-8.1_d\-lvtksqlite-8.1_d\-lvtksys-8.1_d\-lvtktiff-8.1_d\-lvtkverdict-8.1_d\-lvtkViewsContext2D-8.1_d\-lvtkViewsCore-8.1_d\-lvtkViewsInfovis-8.1_d\-lvtkViewsQt-8.1_d\-lvtkzlib-8.1_d} else {  #也可以按照下面进行设置，没有此句
#CONFIG(release,debug|release){
message("release CameraUi.pro")
INCLUDEPATH += D:\ProgramFiles\VTK\VTK811\install\release\include\vtk-8.1
LIBS += -LD:\ProgramFiles\PCL\PCL1.9.1\lib\-lpcl_common_release\-lpcl_features_release\-lpcl_filters_release\-lpcl_io_ply_release\-lpcl_io_release\-lpcl_kdtree_release\-lpcl_keypoints_release\-lpcl_ml_release\-lpcl_octree_release\-lpcl_outofcore_release\-lpcl_people_release\-lpcl_recognition_release\-lpcl_registration_release\-lpcl_sample_consensus_release\-lpcl_search_release\-lpcl_segmentation_release\-lpcl_stereo_release\-lpcl_surface_release\-lpcl_tracking_release\-lpcl_visualization_releaseLIBS += -LD:\ProgramFiles\PCL\PCL1.9.1\3rdParty\Boost\lib\-llibboost_atomic-vc141-mt-x64-1_68\-llibboost_bzip2-vc141-mt-x64-1_68\-llibboost_chrono-vc141-mt-x64-1_68\-llibboost_container-vc141-mt-x64-1_68\-llibboost_context-vc141-mt-x64-1_68\-llibboost_coroutine-vc141-mt-x64-1_68\-llibboost_date_time-vc141-mt-x64-1_68\-llibboost_exception-vc141-mt-x64-1_68\-llibboost_fiber-vc141-mt-x64-1_68\-llibboost_filesystem-vc141-mt-x64-1_68\-llibboost_graph-vc141-mt-x64-1_68\-llibboost_graph_parallel-vc141-mt-x64-1_68\-llibboost_iostreams-vc141-mt-x64-1_68\-llibboost_locale-vc141-mt-x64-1_68\-llibboost_log-vc141-mt-x64-1_68\-llibboost_log_setup-vc141-mt-x64-1_68\-llibboost_math_c99-vc141-mt-x64-1_68\-llibboost_math_c99f-vc141-mt-x64-1_68\-llibboost_math_c99l-vc141-mt-x64-1_68\-llibboost_math_tr1-vc141-mt-x64-1_68\-llibboost_math_tr1f-vc141-mt-x64-1_68\-llibboost_math_tr1l-vc141-mt-x64-1_68\-llibboost_mpi-vc141-mt-x64-1_68\-llibboost_numpy27-vc141-mt-x64-1_68\-llibboost_numpy37-vc141-mt-x64-1_68\-llibboost_prg_exec_monitor-vc141-mt-x64-1_68\-llibboost_program_options-vc141-mt-x64-1_68\-llibboost_python27-vc141-mt-x64-1_68\-llibboost_python37-vc141-mt-x64-1_68\-llibboost_random-vc141-mt-x64-1_68\-llibboost_regex-vc141-mt-x64-1_68\-llibboost_serialization-vc141-mt-x64-1_68\-llibboost_signals-vc141-mt-x64-1_68\-llibboost_system-vc141-mt-x64-1_68\-llibboost_test_exec_monitor-vc141-mt-x64-1_68\-llibboost_thread-vc141-mt-x64-1_68\-llibboost_timer-vc141-mt-x64-1_68\-llibboost_type_erasure-vc141-mt-x64-1_68\-llibboost_unit_test_framework-vc141-mt-x64-1_68\-llibboost_wave-vc141-mt-x64-1_68\-llibboost_wserialization-vc141-mt-x64-1_68\-llibboost_zlib-vc141-mt-x64-1_68LIBS += -LD:\ProgramFiles\PCL\PCL1.9.1\3rdParty\FLANN\lib\-lflann\-lflann_cpp\-lflann_cpp_s\-lflann_sLIBS += -LD:\ProgramFiles\PCL\PCL1.9.1\3rdParty\OpenNI2\Lib\ -lOpenNI2LIBS += -LD:\ProgramFiles\PCL\PCL1.9.1\3rdParty\Qhull\lib\-lqhull\-lqhullcpp\-lqhullstatic\-lqhullstatic_r\-lqhull_p\-lqhull_rLIBS += -LD:\ProgramFiles\VTK\VTK811\install\release\lib\-lvtkalglib-8.1\-lvtkChartsCore-8.1\-lvtkCommonColor-8.1\-lvtkCommonComputationalGeometry-8.1\-lvtkCommonCore-8.1\-lvtkCommonDataModel-8.1\-lvtkCommonExecutionModel-8.1\-lvtkCommonMath-8.1\-lvtkCommonMisc-8.1\-lvtkCommonSystem-8.1\-lvtkCommonTransforms-8.1\-lvtkDICOMParser-8.1\-lvtkDomainsChemistry-8.1\-lvtkexoIIc-8.1\-lvtkexpat-8.1\-lvtkFiltersAMR-8.1\-lvtkFiltersCore-8.1\-lvtkFiltersExtraction-8.1\-lvtkFiltersFlowPaths-8.1\-lvtkFiltersGeneral-8.1\-lvtkFiltersGeneric-8.1\-lvtkFiltersGeometry-8.1\-lvtkFiltersHybrid-8.1\-lvtkFiltersHyperTree-8.1\-lvtkFiltersImaging-8.1\-lvtkFiltersModeling-8.1\-lvtkFiltersParallel-8.1\-lvtkFiltersParallelImaging-8.1\-lvtkFiltersPoints-8.1\-lvtkFiltersProgrammable-8.1\-lvtkFiltersSelection-8.1\-lvtkFiltersSMP-8.1\-lvtkFiltersSources-8.1\-lvtkFiltersStatistics-8.1\-lvtkFiltersTexture-8.1\-lvtkFiltersTopology-8.1\-lvtkFiltersVerdict-8.1\-lvtkfreetype-8.1\-lvtkGeovisCore-8.1\-lvtkgl2ps-8.1\-lvtkglew-8.1\-lvtkGUISupportQt-8.1\-lvtkGUISupportQtSQL-8.1\-lvtkhdf5-8.1\-lvtkhdf5_hl-8.1\-lvtkImagingColor-8.1\-lvtkImagingCore-8.1\-lvtkImagingFourier-8.1\-lvtkImagingGeneral-8.1\-lvtkImagingHybrid-8.1\-lvtkImagingMath-8.1\-lvtkImagingMorphological-8.1\-lvtkImagingSources-8.1\-lvtkImagingStatistics-8.1\-lvtkImagingStencil-8.1\-lvtkInfovisCore-8.1\-lvtkInfovisLayout-8.1\-lvtkInteractionImage-8.1\-lvtkInteractionStyle-8.1\-lvtkInteractionWidgets-8.1\-lvtkIOAMR-8.1\-lvtkIOCore-8.1\-lvtkIOEnSight-8.1\-lvtkIOExodus-8.1\-lvtkIOExport-8.1\-lvtkIOExportOpenGL2-8.1\-lvtkIOGeometry-8.1\-lvtkIOImage-8.1\-lvtkIOImport-8.1\-lvtkIOInfovis-8.1\-lvtkIOLegacy-8.1\-lvtkIOLSDyna-8.1\-lvtkIOMINC-8.1\-lvtkIOMovie-8.1\-lvtkIONetCDF-8.1\-lvtkIOParallel-8.1\-lvtkIOParallelXML-8.1\-lvtkIOPLY-8.1\-lvtkIOSQL-8.1\-lvtkIOTecplotTable-8.1\-lvtkIOVideo-8.1\-lvtkIOXML-8.1\-lvtkIOXMLParser-8.1\-lvtkjpeg-8.1\-lvtkjsoncpp-8.1\-lvtklibharu-8.1\-lvtklibxml2-8.1\-lvtklz4-8.1\-lvtkmetaio-8.1\-lvtkNetCDF-8.1\-lvtknetcdfcpp-8.1\-lvtkoggtheora-8.1\-lvtkParallelCore-8.1\-lvtkpng-8.1\-lvtkproj4-8.1\-lvtkRenderingAnnotation-8.1\-lvtkRenderingContext2D-8.1\-lvtkRenderingContextOpenGL2-8.1\-lvtkRenderingCore-8.1\-lvtkRenderingFreeType-8.1\-lvtkRenderingGL2PSOpenGL2-8.1\-lvtkRenderingImage-8.1\-lvtkRenderingLabel-8.1\-lvtkRenderingLOD-8.1\-lvtkRenderingOpenGL2-8.1\-lvtkRenderingQt-8.1\-lvtkRenderingVolume-8.1\-lvtkRenderingVolumeOpenGL2-8.1\-lvtksqlite-8.1\-lvtksys-8.1\-lvtktiff-8.1\-lvtkverdict-8.1\-lvtkViewsContext2D-8.1\-lvtkViewsCore-8.1\-lvtkViewsInfovis-8.1\-lvtkViewsQt-8.1\-lvtkzlib-8.1\}

(三)测试代码

#include "widget.h"
#include "ui_widget.h"#include <QDebug>#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/obj_io.h>
#include <pcl/PolygonMesh.h>
#include <pcl/point_cloud.h>
#include <pcl/io/vtk_lib_io.h>//loadPolygonFileOBJ所属头文件；
#include <pcl/visualization/pcl_visualizer.h>Widget::Widget(QWidget *parent): QWidget(parent), ui(new Ui::Widget)
{ui->setupUi(this);std::string fileName = "E:/wokspace/PROJECT/3D_visualization_platform/pcl_data/20210507111715441.pcd";//std::string fileName = "chahu.obj";pcl::PolygonMesh meshData;//读取原始数据pcl::io::loadPolygonFile(fileName,meshData);pcl::PointCloud<pcl::PointXYZ>::Ptr cloud;cloud.reset(new pcl::PointCloud<pcl::PointXYZ>);pcl::fromPCLPointCloud2(meshData.cloud, *cloud);//将obj数据转换为点云数据// 显示结果图boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));viewer->setBackgroundColor (0, 0, 0); //设置背景viewer->addCoordinateSystem (15.0); //设置坐标系viewer->initCameraParameters ();viewer->addPointCloud(cloud, "show");while (!viewer->wasStopped()){viewer->spinOnce (100);boost::this_thread::sleep (boost::posix_time::microseconds (100000));}qDebug()<<"shuchu jieshu";}Widget::~Widget()
{delete ui;
}

debug程序启动的时候比较慢，要耐心等待一下，最终会弹出点云图

八、Qt-VTK测试

(一)pro配置

配置如七(二)中所示

(二)代码

头文件

#ifndef WIDGET_H
#define WIDGET_H#include <QWidget>#include <QFileDialog>//#include <vtkAutoInit.h>
//VTK_MODULE_INIT(vtkRenderingOpenGL2)
//VTK_MODULE_INIT(vtkInteractionStyle)#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/io/pcd_io.h>
#include <QVTKWidget.h>
#include <vtkRenderWindow.h>QT_BEGIN_NAMESPACE
namespace Ui { class Widget; }
QT_END_NAMESPACEclass Widget : public QWidget
{Q_OBJECTpublic:Widget(QWidget *parent = nullptr);~Widget();void initialOPVtkWidget();QVTKWidget *mVTKWidget;boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;public slots:void showpoint();private slots:void on_pushButton_clicked();private:Ui::Widget *ui;};
#endif // WIDGET_H

cpp

#include "widget.h"
#include "ui_widget.h"#include <QDebug>#include <vtkAutoInit.h>
#include <pcl/filters/radius_outlier_removal.h>
#include <pcl/filters/conditional_removal.h>
#include <pcl/io/pcd_io.h>
#include <QTimer>
#include <QHBoxLayout>
#include <QVBoxLayout>
#include <QTimer>
#include <vtkOutputWindow.h>  //消除vtk警告窗口的VTK_MODULE_INIT(vtkRenderingOpenGL2); //必须位opengl2
VTK_MODULE_INIT(vtkInteractionStyle);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());Widget::Widget(QWidget *parent): QWidget(parent), ui(new Ui::Widget)
{ui->setupUi(this);initialOPVtkWidget();mVTKWidget = new QVTKWidget(this);QVBoxLayout *layout = new QVBoxLayout(this);layout->addWidget(mVTKWidget);QSizePolicy sizePolicy1(QSizePolicy::Preferred, QSizePolicy::Preferred);sizePolicy1.setHorizontalStretch(0);sizePolicy1.setVerticalStretch(0);sizePolicy1.setHeightForWidth(mVTKWidget->sizePolicy().hasHeightForWidth());mVTKWidget->setSizePolicy(sizePolicy1);//设置vtk视图大小mVTKWidget->setMinimumSize(QSize(1200, 800));mVTKWidget->showFullScreen();viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));//初始化viewermVTKWidget->SetRenderWindow(viewer->getRenderWindow());//关联鼠标事件viewer->setupInteractor(mVTKWidget->GetInteractor(), mVTKWidget->GetRenderWindow());//设置显示部件viewer->addPointCloud(cloud, "cloud");viewer->addCoordinateSystem(383);viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1.3, "cloud");pcl::PointXYZ p;for (int i = 0; i < 100; i++) {p.x = rand() % 100;p.y = rand() % 100;p.z = rand() % 100;cloud->push_back(p);}viewer->updatePointCloud<pcl::PointXYZ>(cloud, "cloud");mVTKWidget->update();QTimer *time = new QTimer(this);connect(time, SIGNAL(timeout()), this, SLOT(showpoint()));time->start(50);
}Widget::~Widget()
{delete ui;
}void Widget::initialOPVtkWidget()
{cloud.reset(new pcl::PointCloud<pcl::PointXYZ>);viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));viewer->addPointCloud(cloud, "cloud");//消除vtk警告输出窗口vtkOutputWindow::SetGlobalWarningDisplay(0);//对应头文件#include <vtkOutputWindow.h>}void Widget::on_pushButton_clicked()
{onOpen();
}//原文链接：https://blog.csdn.net/qq_34512507/article/details/100991932
void Widget::showpoint()
{cloud->clear();pcl::PointXYZ p;for (int i = 0; i < 100; i++) {p.x = rand() % 100;p.y = rand() % 100;p.z = rand() % 100;cloud->push_back(p);}viewer->updatePointCloud<pcl::PointXYZ>(cloud, "cloud");mVTKWidget->update();
}

参考：

10分钟配好vs2017+pcl1.9.1+vtk8.1+qt5.9+点云环境配置_点睡的博客-CSDN博客https://blog.csdn.net/qq_34512507/article/details/100991932

(三)消除vtk警告窗口

运行程序时，除了弹出主窗口，还会弹出一个关于VTK的警告窗口，添加如下代码可关闭窗口

#include <vtkOutputWindow.h>//消除vtk警告输出窗口
vtkOutputWindow::SetGlobalWarningDisplay(0);//必须得添加头文件才行

 

(四)出现的问题

1.widget.obj:-1: error: LNK2001: 无法解析的外部符号 "void __cdecl vtkRenderingOpenGL_AutoInit_Construct(void)" (?vtkRenderingOpenGL_AutoInit_Construct@@YAXXZ)

vtkRenderingOpenGL 这个再代码中一查，发现头文件中添加了VTK_MODULE_INIT(vtkRenderingOpenGL)

但我的库中是vtkRenderingOpenGL2，

后面改为：VTK_MODULE_INIT(vtkRenderingOpenGL2)

2. 概要信息中提示的错误：

2023-08-03T16:24:32 Clang Code Model: Error: The clangbackend process has finished unexpectedly and was restarted.

参考：

Qt通过QVTKWidget显示VTK交互窗口_FRED618的博客-CSDN博客https://blog.csdn.net/qq_37441588/article/details/118677431