PCL viewer inside QtCreator widget with VTK and QVTKOpenGLStereoWidget
I need to make a graphical window with a Qt widget that allows to represent inside it a point cloud that I have previously loaded using the PLC library.
Here's what I have so far that doesn't work (I based it on tutorials and this answer).
I'm using:
- Ubuntu 20.04
- Qt Creator 5.15
- VTK 9.1
- PCL 1.12
The reason I am using QVTKOpenGLStereoWidget is that as far as I read both QVTKOpenGLWidget and QVTKWidget are no longer available or will be discontinued in future releases.
Test.pro
QT += core gui
greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
CONFIG += c++14
# You can make your code fail to compile if it uses deprecated APIs.
# In order to do so, uncomment the following line.
#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000 # disables all the APIs deprecated before Qt 6.0.0
SOURCES += \
main.cpp \
MainWindow.cpp
HEADERS += \
MainWindow.h
FORMS += \
MainWindow.ui
# Default rules for deployment.
qnx: target.path = /tmp/$${TARGET}/bin
else: unix:!android: target.path = /opt/$${TARGET}/bin
!isEmpty(target.path): INSTALLS += target
# INCLUIR LAS LIREARÍAS PARA EL PRROGRAMA
VTK_VERSION = 9.1
PCL_VERSION = 1.12
CONFIG += link_pkgconfig
# LIBREARÍA DE ARCHIVOS DE EIGEN3
PKGCONFIG += eigen3
# LIBRERÍA DE ARCHIIVOS DE BOOST
INCLUDEPATH += /usr/include/boost
# LIBREARÍA DE REPRESENTACIÓN GRÁFICA VTK
INCLUDEPATH += /usr/local/include/vtk-$${VTK_VERSION}
LIBS += -L/usr/local/lib \
-lvtkCommonColor-$${VTK_VERSION} \
-lvtkCommonCore-$${VTK_VERSION} \
-lvtkFiltersSources-$${VTK_VERSION} \
-lvtkInteractionStyle-$${VTK_VERSION} \
-lvtkRenderingContextOpenGL2-$${VTK_VERSION} \
-lvtkRenderingCore-$${VTK_VERSION} \
-lvtkRenderingFreeType-$${VTK_VERSION} \
-lvtkRenderingGL2PSOpenGL2-$${VTK_VERSION} \
-lvtkRenderingOpenGL2-$${VTK_VERSION} \
-lvtkCommonExecutionModel-$${VTK_VERSION} \
-lvtkRenderingFreeType-$${VTK_VERSION} \
-lvtkInteractionStyle-$${VTK_VERSION} \
-lvtkRenderingOpenGL2-$${VTK_VERSION} \
-lvtkRenderingLOD-$${VTK_VERSION} \
-lvtkCommonDataModel-$${VTK_VERSION} \
-lvtkCommonMath-$${VTK_VERSION} \
-lvtkViewsQt-$${VTK_VERSION} \
#-lvtkGUISupportQtOpenGL-$${VTK_VERSION} \
-lvtkGUISupportQt-$${VTK_VERSION}
# LIBRERÍAS PARA EL TRBAJO CON NUBES DE PUNTOS.
INCLUDEPATH += /usr/local/include/pcl-$${PCL_VERSION}
LIBS += -L/usr/local/lib \
-lpcl_common -lpcl_features -lpcl_filters -lpcl_io_ply \
-lpcl_io -lpcl_kdtree -lpcl_keypoints -lpcl_ml \
-lpcl_octree -lpcl_outofcore -lpcl_people -lpcl_recognition \
-lpcl_registration -lpcl_search -lpcl_segmentation -lpcl_stereo \
-lpcl_surface -lpcl_tracking -lpcl_visualization -lpcl_sample_consensus
MainWindow.ui
It only has one widget that has a promote a QVTKOpenGLSTereoWidget
MainWindow.h
I did the initialization of the VTK library, the inclusion of the different library headers and created the PCL viewer and the VTK renderer based on OpenGL.
#ifndef MAINWINDOW_H
#define MAINWINDOW_H
#include <QMainWindow>
#include "pcl/visualization/cloud_viewer.h"
#include <pcl/visualization/pcl_visualizer.h>
#include "pcl/io/pcd_io.h"
#include "pcl/io/ply_io.h"
#include "pcl/io/obj_io.h"
#include "pcl/common/io.h"
#include "vtkCylinder.h"
#include "vtkCylinderSource.h"
#include "vtkRenderWindow.h"
#include <QVTKOpenGLWidget.h>
#include <QVTKOpenGLStereoWidget.h>
#include <QVTKOpenGLWindow.h>
#include "vtkAutoInit.h"
VTK_MODULE_INIT(vtkRenderingOpenGL2);
VTK_MODULE_INIT(vtkInteractionStyle);
VTK_MODULE_INIT(vtkRenderingFreeType);
using namespace pcl::visualization;
QT_BEGIN_NAMESPACE
namespace Ui { class MainWindow; }
QT_END_NAMESPACE
class MainWindow : public QMainWindow
{
Q_OBJECT
public:
MainWindow(QWidget *parent = nullptr);
~MainWindow();
pcl::visualization::PCLVisualizer::Ptr viewer;
vtkSmartPointer<vtkGenericOpenGLRenderWindow> renderWindow;
private:
Ui::MainWindow *ui;
};
#endif // MAINWINDOW_H
MainWindow.cpp
Finally in the constructor of the MainWindow class I simply loaded the file (in this case it was a PLY) and then I tried to make the graphical representation in the widget
#include "MainWindow.h"
#include "ui_MainWindow.h"
MainWindow::MainWindow(QWidget *parent)
: QMainWindow(parent)
, ui(new Ui::MainWindow)
{
ui->setupUi(this);
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);
// Cargar el objeto en dicha nube de putnos en el formato que se desee.
pcl::io::loadPLYFile("/home/alejandro/Documentos/alejandro.ply",*cloud);
viewer->addPointCloud(cloud);
auto renderer = vtkSmartPointer<vtkRenderer>::New();
renderWindow = vtkSmartPointer<vtkGenericOpenGLRenderWindow>::New();
//renderWindow->AddRenderer(renderer); THIS MAKES AN ERROR!!
viewer.reset(new PCLVisualizer(renderer, renderWindow, "viewer", false));
ui->widget->setRenderWindow(viewer->getRenderWindow());
ui->widget->update();
}
MainWindow::~MainWindow()
{
delete ui;
}
Main.cpp
I have not changed anything, it is default
#include "MainWindow.h"
#include <QApplication>
int main(int argc, char *argv[])
{
QApplication a(argc, argv);
MainWindow w;
w.show();
return a.exec();
}
ERROR.
The main error I have is: /usr/local/include/vtk-9.1/vtkSmartPointer.h:225: error: incomplete type ‘vtkGenericOpenGLRenderWindow’ used in nested name specifier In file included from /usr/local/include/pcl-1.12/pcl/visualization/point_cloud_geometry_handlers.h:49, from /usr/local/include/pcl-1.12/pcl/visualization/common/actor_map.h:40, from /usr/local/include/pcl-1.12/pcl/visualization/pcl_visualizer.h:48, from /usr/local/include/pcl-1.12/pcl/visualization/cloud_viewer.h:39, from ../04_pcl_viewer_V3/MainWindow.h:6, from ../04_pcl_viewer_V3/MainWindow.cpp:1: /usr/local/include/vtk-9.1/vtkSmartPointer.h: In instantiation of ‘static vtkSmartPointer vtkSmartPointer::New() [with T = vtkGenericOpenGLRenderWindow]’: ../04_pcl_viewer_V3/MainWindow.cpp:16:67: required from here /usr/local/include/vtk-9.1/vtkSmartPointer.h:225:69: error: incomplete type ‘vtkGenericOpenGLRenderWindow’ used in nested name specifier 225 | static vtkSmartPointer New() { return vtkSmartPointer(T::New(), NoReference()); } | ~~~~~~^~
Solution
I was finally able to find the solution to the problem so I am sharing it as an answer in case it could be useful for someone else.
pclTest_V0.pro
QT += core gui
greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
CONFIG += c++14
# You can make your code fail to compile if it uses deprecated APIs.
# In order to do so, uncomment the following line.
#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000 # disables all the APIs deprecated before Qt 6.0.0
SOURCES += \
main.cpp \
MainWindow.cpp
HEADERS += \
MainWindow.h
FORMS += \
mainwindow.ui
# Default rules for deployment.
qnx: target.path = /tmp/$${TARGET}/bin
else: unix:!android: target.path = /opt/$${TARGET}/bin
!isEmpty(target.path): INSTALLS += target
# Incluir la librería y la ruta de VTK
VTK_VERSION = 9.1
INCLUDEPATH += /usr/local/include/vtk-$${VTK_VERSION}
LIBS += -L/usr/local/lib \
-lvtkCommonColor-$${VTK_VERSION} \
-lvtkCommonExecutionModel-$${VTK_VERSION} \
-lvtkCommonCore-$${VTK_VERSION} \
-lvtkCommonDataModel-$${VTK_VERSION} \ # Para PCL
-lvtkCommonMath-$${VTK_VERSION} \ # Para PCL
-lvtkFiltersCore-$${VTK_VERSION} \
-lvtkFiltersSources-$${VTK_VERSION} \
-lvtkInfovisCore-$${VTK_VERSION} \
-lvtkInteractionStyle-$${VTK_VERSION} \
-lvtkRenderingContextOpenGL2-$${VTK_VERSION} \
-lvtkRenderingCore-$${VTK_VERSION} \
-lvtkRenderingFreeType-$${VTK_VERSION} \
-lvtkRenderingGL2PSOpenGL2-$${VTK_VERSION} \
-lvtkRenderingOpenGL2-$${VTK_VERSION} \
-lvtkViewsQt-$${VTK_VERSION} \
-lvtkGUISupportQt-$${VTK_VERSION} \
-lvtkRenderingQt-$${VTK_VERSION}
# Incluir el directorio de boost.
INCLUDEPATH += /usr/include/boost
# Incluir el direcotrio de eigen3.
INCLUDEPATH += /usr/include/eigen3
# Incluir las librerías y la ruta de PCL.
PCL_VERSION = 1.12
INCLUDEPATH += /usr/local/include/pcl-$${PCL_VERSION}
LIBS += -L/usr/local/lib \
-lpcl_common -lpcl_io -lpcl_visualization
MainWindow.h
#ifndef MAINWINDOW_H
#define MAINWINDOW_H
#include <QMainWindow>
#include "pcl/common/common_headers.h"
#include "pcl/features/normal_3d.h"
#include "pcl/io/obj_io.h"
#include "pcl/io/ply_io.h"
#include "pcl/visualization/pcl_visualizer.h"
#include "pcl/console/parse.h"
#include "QVTKOpenGLNativeWidget.h"
#include "vtkCamera.h"
#include "vtkCubeSource.h"
#include "vtkDataObjectToTable.h"
#include "vtkElevationFilter.h"
#include "vtkGenericOpenGLRenderWindow.h"
#include "vtkNamedColors.h"
#include "vtkNew.h"
#include "vtkPolyDataMapper.h"
#include "vtkQtTableView.h"
#include "vtkRenderWindow.h"
#include "vtkRenderer.h"
#include "vtkSphereSource.h"
#include "vtkVersion.h"
QT_BEGIN_NAMESPACE
namespace Ui { class MainWindow; }
QT_END_NAMESPACE
class MainWindow : public QMainWindow
{
Q_OBJECT
public:
MainWindow(QWidget *parent = nullptr);
~MainWindow();
private:
Ui::MainWindow *ui;
pcl::visualization::PCLVisualizer::Ptr viewer;
};
#endif // MAINWINDOW_H
MainWindow.cpp
#include "MainWindow.h"
#include "ui_mainwindow.h"
MainWindow::MainWindow(QWidget *parent)
: QMainWindow(parent)
, ui(new Ui::MainWindow)
{
ui->setupUi(this);
vtkNew<vtkGenericOpenGLRenderWindow> renderWindow;
vtkNew<vtkRenderer> renderer;
renderWindow->AddRenderer(renderer);
// Crear una nube de puntos con los datos almacenados en un archivo
// determinado.
std::string name = "filename.ply";
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>);
pcl::io::loadPLYFile(name,*cloud);
// Generar el visor de la nube de puntos para realizar la visualización.
//viewer.reset(new pcl::visualization::PCLVisualizer("viewer",false));
viewer.reset(new pcl::visualization::PCLVisualizer(renderer, renderWindow,
"viewer",false));
viewer->addPointCloud(cloud);
//ui->Viewer_widget->renderWindow()->AddRenderer(renderer);
ui->Viewer_widget->setRenderWindow(viewer->getRenderWindow());
ui->Viewer_widget->update();
}
MainWindow::~MainWindow()
{
delete ui;
}
main.cpp
#include "MainWindow.h"
#include <QApplication>
int main(int argc, char *argv[])
{
QSurfaceFormat::setDefaultFormat(QVTKOpenGLNativeWidget::defaultFormat());
QApplication a(argc, argv);
MainWindow w;
w.show();
return a.exec();
}
MainWindow.ui
Widget with QVTKOpenGLNativeWidget.h promotion.
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