任何一個點雲處理軟件一定少不了.las格式點雲文件的讀取，而讀取.las文件主要依靠LASLib庫，網上有不少在VS中配置LASLib的博客，但在QT中配置LASLib的博客卻很少，因此今天來寫一下，總的來說很簡單，用半天左右時間即可完成。
在配置LASLib之前，首先要對LASLib進行編譯，我是在VS2017+WIN10的環境下進行編譯的。
編譯過程主要參考了這兩篇博客。
博客1：https://blog.csdn.net/xujie126/article/details/80769484
這兩篇博客寫的很好，按照他的步驟進行編譯無任何問題。
如果最後出現這個問題。
直接忽略好了，沒錯，它對後續步驟無影響，至少在QT中的配置是這樣的。只要有下圖這樣的項目生成成功就好。
這樣就完成了對LASLib的編譯，之後就要進行QT中的LASLib配置。
首先新建工程，完成後修改.pro文件。
首先要把這兩個文件中的東西包含進來D:\LAStools\LASzip\src 和 D:\LAStools\LASlib\inc（這是我的文件路徑，根據各自的文件路徑進行修改），包含方法就是在.pro文件中添加如下兩句代碼。
INCLUDEPATH += D:/LAStools/LASzip/src
INCLUDEPATH += D:/LAStools/LASlib/inc
接着在庫包含中添加LASLib庫，添加方法即在.pro文件中添加如下代碼
LIBS += -LD:\LAStools\LASlib\lib\
-lLASlib
這裏我將我的.pro文件全部粘上來。
QT += core gui
INCLUDEPATH += D:/TOOL/PCL1.8.1/include/pcl-1.8\
INCLUDEPATH += D:/TOOL/PCL1.8.1/include/pcl-1.8/pcl\
INCLUDEPATH += D:/TOOL/PCL1.8.1/3rdParty/Boost/include/boost-1_64\
INCLUDEPATH += D:/TOOL/PCL1.8.1/3rdParty/Eigen/eigen3\
INCLUDEPATH += D:/TOOL/PCL1.8.1/3rdParty/FLANN/include\
INCLUDEPATH += D:/TOOL/PCL1.8.1/3rdParty/FLANN/include/flann\
INCLUDEPATH += D:/TOOL/PCL1.8.1/3rdParty/OpenNI2/Include\
INCLUDEPATH += D:/TOOL/PCL1.8.1/3rdParty/Qhull/include\
INCLUDEPATH += D:/TOOL/PCL1.8.1/3rdParty/VTK/include/vtk-8.0\
INCLUDEPATH += D:/LAStools/LASzip/src
INCLUDEPATH += D:/LAStools/LASlib/inc
CONFIG(debug,debug|release){
LIBS += -LD:/TOOL/PCL1.8.1/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_debug\
LIBS += -LD:/TOOL/PCL1.8.1/3rdParty/Boost/lib\
-llibboost_atomic-vc140-mt-gd-1_64\
-llibboost_bzip2-vc140-mt-gd-1_64\
-llibboost_chrono-vc140-mt-gd-1_64\
-llibboost_container-vc140-mt-gd-1_64\
-llibboost_context-vc140-mt-gd-1_64\
-llibboost_coroutine-vc140-mt-gd-1_64\
-llibboost_date_time-vc140-mt-gd-1_64\
-llibboost_exception-vc140-mt-gd-1_64\
-llibboost_fiber-vc140-mt-gd-1_64\
-llibboost_filesystem-vc140-mt-gd-1_64\
-llibboost_graph-vc140-mt-gd-1_64\
-llibboost_graph_parallel-vc140-mt-gd-1_64\
-llibboost_iostreams-vc140-mt-gd-1_64\
-llibboost_locale-vc140-mt-gd-1_64\
-llibboost_log-vc140-mt-gd-1_64\
-llibboost_log_setup-vc140-mt-gd-1_64\
-llibboost_math_c99-vc140-mt-gd-1_64\
-llibboost_math_c99f-vc140-mt-gd-1_64\
-llibboost_math_c99l-vc140-mt-gd-1_64\
-llibboost_math_tr1-vc140-mt-gd-1_64\
-llibboost_math_tr1f-vc140-mt-gd-1_64\
-llibboost_math_tr1l-vc140-mt-gd-1_64\
-llibboost_mpi-vc140-mt-gd-1_64\
-llibboost_numpy-vc140-mt-gd-1_64\
-llibboost_numpy3-vc140-mt-gd-1_64\
-llibboost_prg_exec_monitor-vc140-mt-gd-1_64\
-llibboost_program_options-vc140-mt-gd-1_64\
-llibboost_python-vc140-mt-gd-1_64\
-llibboost_python3-vc140-mt-gd-1_64\
-llibboost_random-vc140-mt-gd-1_64\
-llibboost_regex-vc140-mt-gd-1_64\
-llibboost_serialization-vc140-mt-gd-1_64\
-llibboost_signals-vc140-mt-gd-1_64\
-llibboost_system-vc140-mt-gd-1_64\
-llibboost_test_exec_monitor-vc140-mt-gd-1_64\
-llibboost_thread-vc140-mt-gd-1_64\
-llibboost_timer-vc140-mt-gd-1_64\
-llibboost_type_erasure-vc140-mt-gd-1_64\
-llibboost_unit_test_framework-vc140-mt-gd-1_64\
-llibboost_wave-vc140-mt-gd-1_64\
-llibboost_wserialization-vc140-mt-gd-1_64\
-llibboost_zlib-vc140-mt-gd-1_64\
LIBS += -LD:/TOOL/PCL1.8.1/3rdParty/FLANN/lib\
-lflann-gd\
-lflann_cpp-gd\
-lflann_cpp_s-gd\
-lflann_s-gd
LIBS += -LD:/TOOL/PCL1.8.1/3rdParty/OpenNI2/Lib\
-lOpenNI2
LIBS += -LD:\LAStools\LASlib\lib\
-lLASlib
LIBS += -LD:/TOOL/PCL1.8.1/3rdParty/Qhull/lib\
-lqhull_d\
-lqhullcpp_d\
-lqhullstatic_d\
-lqhullstatic_r_d\
-lqhull_p_d\
-lqhull_r_d
LIBS += -LD:/TOOL/PCL1.8.1/3rdParty/VTK/lib\
-lvtkalglib-8.0-gd\
-lvtkChartsCore-8.0-gd\
-lvtkCommonColor-8.0-gd\
-lvtkCommonComputationalGeometry-8.0-gd\
-lvtkCommonCore-8.0-gd\
-lvtkCommonDataModel-8.0-gd\
-lvtkCommonExecutionModel-8.0-gd\
-lvtkCommonMath-8.0-gd\
-lvtkCommonMisc-8.0-gd\
-lvtkCommonSystem-8.0-gd\
-lvtkCommonTransforms-8.0-gd\
-lvtkDICOMParser-8.0-gd\
-lvtkDomainsChemistry-8.0-gd\
-lvtkexoIIc-8.0-gd\
-lvtkexpat-8.0-gd\
-lvtkFiltersAMR-8.0-gd\
-lvtkFiltersCore-8.0-gd\
-lvtkFiltersExtraction-8.0-gd\
-lvtkFiltersFlowPaths-8.0-gd\
-lvtkFiltersGeneral-8.0-gd\
-lvtkFiltersGeneric-8.0-gd\
-lvtkFiltersGeometry-8.0-gd\
-lvtkFiltersHybrid-8.0-gd\
-lvtkFiltersHyperTree-8.0-gd\
-lvtkFiltersImaging-8.0-gd\
-lvtkFiltersModeling-8.0-gd\
-lvtkFiltersParallel-8.0-gd\
-lvtkFiltersParallelImaging-8.0-gd\
-lvtkFiltersPoints-8.0-gd\
-lvtkFiltersProgrammable-8.0-gd\
-lvtkFiltersSelection-8.0-gd\
-lvtkFiltersSMP-8.0-gd\
-lvtkFiltersSources-8.0-gd\
-lvtkFiltersStatistics-8.0-gd\
-lvtkFiltersTexture-8.0-gd\
-lvtkFiltersTopology-8.0-gd\
-lvtkFiltersVerdict-8.0-gd\
-lvtkfreetype-8.0-gd\
-lvtkGeovisCore-8.0-gd\
-lvtkgl2ps-8.0-gd\
-lvtkGUISupportQt-8.0-gd\
-lvtkGUISupportQtOpenGL-8.0-gd\
-lvtkGUISupportQtSQL-8.0-gd\
-lvtkhdf5-8.0-gd\
-lvtkhdf5_hl-8.0-gd\
-lvtkImagingColor-8.0-gd\
-lvtkImagingCore-8.0-gd\
-lvtkImagingFourier-8.0-gd\
-lvtkImagingGeneral-8.0-gd\
-lvtkImagingHybrid-8.0-gd\
-lvtkImagingMath-8.0-gd\
-lvtkImagingMorphological-8.0-gd\
-lvtkImagingSources-8.0-gd\
-lvtkImagingStatistics-8.0-gd\
-lvtkImagingStencil-8.0-gd\
-lvtkInfovisCore-8.0-gd\
-lvtkInfovisLayout-8.0-gd\
-lvtkInteractionImage-8.0-gd\
-lvtkInteractionStyle-8.0-gd\
-lvtkInteractionWidgets-8.0-gd\
-lvtkIOAMR-8.0-gd\
-lvtkIOCore-8.0-gd\
-lvtkIOEnSight-8.0-gd\
-lvtkIOExodus-8.0-gd\
-lvtkIOExport-8.0-gd\
-lvtkIOExportOpenGL-8.0-gd\
-lvtkIOGeometry-8.0-gd\
-lvtkIOImage-8.0-gd\
-lvtkIOImport-8.0-gd\
-lvtkIOInfovis-8.0-gd\
-lvtkIOLegacy-8.0-gd\
-lvtkIOLSDyna-8.0-gd\
-lvtkIOMINC-8.0-gd\
-lvtkIOMovie-8.0-gd\
-lvtkIONetCDF-8.0-gd\
-lvtkIOParallel-8.0-gd\
-lvtkIOParallelXML-8.0-gd\
-lvtkIOPLY-8.0-gd\
-lvtkIOSQL-8.0-gd\
-lvtkIOTecplotTable-8.0-gd\
-lvtkIOVideo-8.0-gd\
-lvtkIOXML-8.0-gd\
-lvtkIOXMLParser-8.0-gd\
-lvtkjpeg-8.0-gd\
-lvtkjsoncpp-8.0-gd\
-lvtklibharu-8.0-gd\
-lvtklibxml2-8.0-gd\
-lvtklz4-8.0-gd\
-lvtkmetaio-8.0-gd\
-lvtkNetCDF-8.0-gd\
-lvtknetcdf_c++-gd\
-lvtkoggtheora-8.0-gd\
-lvtkParallelCore-8.0-gd\
-lvtkpng-8.0-gd\
-lvtkproj4-8.0-gd\
-lvtkRenderingAnnotation-8.0-gd\
-lvtkRenderingContext2D-8.0-gd\
-lvtkRenderingContextOpenGL-8.0-gd\
-lvtkRenderingCore-8.0-gd\
-lvtkRenderingFreeType-8.0-gd\
-lvtkRenderingGL2PS-8.0-gd\
-lvtkRenderingImage-8.0-gd\
-lvtkRenderingLabel-8.0-gd\
-lvtkRenderingLIC-8.0-gd\
-lvtkRenderingLOD-8.0-gd\
-lvtkRenderingOpenGL-8.0-gd\
-lvtkRenderingQt-8.0-gd\
-lvtkRenderingVolume-8.0-gd\
-lvtkRenderingVolumeOpenGL-8.0-gd\
-lvtksqlite-8.0-gd\
-lvtksys-8.0-gd\
-lvtktiff-8.0-gd\
-lvtkverdict-8.0-gd\
-lvtkViewsContext2D-8.0-gd\
-lvtkViewsCore-8.0-gd\
-lvtkViewsInfovis-8.0-gd\
-lvtkViewsQt-8.0-gd\
-lvtkzlib-8.0-gd
} else {
LIBS += -LD:/TOOL/PCL1.8.1/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_release\
LIBS += -LD:/TOOL/PCL1.8.1/3rdParty/Boost/lib\
-llibboost_atomic-vc140-mt-1_64\
-llibboost_bzip2-vc140-mt-1_64\
-llibboost_chrono-vc140-mt-1_64\
-llibboost_container-vc140-mt-1_64\
-llibboost_context-vc140-mt-1_64\
-llibboost_coroutine-vc140-mt-1_64\
-llibboost_date_time-vc140-mt-1_64\
-llibboost_exception-vc140-mt-1_64\
-llibboost_fiber-vc140-mt-1_64\
-llibboost_filesystem-vc140-mt-1_64\
-llibboost_graph-vc140-mt-1_64\
-llibboost_graph_parallel-vc140-mt-1_64\
-llibboost_iostreams-vc140-mt-1_64\
-llibboost_locale-vc140-mt-1_64\
-llibboost_log-vc140-mt-1_64\
-llibboost_log_setup-vc140-mt-1_64\
-llibboost_math_c99-vc140-mt-1_64\
-llibboost_math_c99f-vc140-mt-1_64\
-llibboost_math_c99l-vc140-mt-1_64\
-llibboost_math_tr1-vc140-mt-1_64\
-llibboost_math_tr1f-vc140-mt-1_64\
-llibboost_math_tr1l-vc140-mt-1_64\
-llibboost_mpi-vc140-mt-1_64\
-llibboost_numpy-vc140-mt-1_64\
-llibboost_numpy3-vc140-mt-1_64\
-llibboost_prg_exec_monitor-vc140-mt-1_64\
-llibboost_program_options-vc140-mt-1_64\
-llibboost_python-vc140-mt-1_64\
-llibboost_python3-vc140-mt-1_64\
-llibboost_random-vc140-mt-1_64\
-llibboost_regex-vc140-mt-1_64\
-llibboost_serialization-vc140-mt-1_64\
-llibboost_signals-vc140-mt-1_64\
-llibboost_system-vc140-mt-1_64\
-llibboost_test_exec_monitor-vc140-mt-1_64\
-llibboost_thread-vc140-mt-1_64\
-llibboost_timer-vc140-mt-1_64\
-llibboost_type_erasure-vc140-mt-1_64\
-llibboost_unit_test_framework-vc140-mt-1_64\
-llibboost_wave-vc140-mt-1_64\
-llibboost_wserialization-vc140-mt-1_64\
-llibboost_zlib-vc140-mt-1_64\
LIBS += -LD:/TOOL/PCL1.8.1/3rdParty/FLANN/lib\
-lflann\
-lflann_cpp\
-lflann_cpp_s\
-lflann_s
LIBS += -LD:/TOOL/PCL1.8.1/3rdParty/OpenNI2/Lib\
-lOpenNI2
LIBS += -LD:\LAStools\LASlib\lib\
-lLASlib
LIBS += -LD:/TOOL/PCL1.8.1/3rdParty/Qhull/lib\
-lqhull\
-lqhullcpp\
-lqhullstatic\
-lqhullstatic_r\
-lqhull_p\
-lqhull_r
LIBS += -LD:/TOOL/PCL1.8.1/3rdParty/VTK/lib\
-lvtkalglib-8.0\
-lvtkChartsCore-8.0\
-lvtkCommonColor-8.0\
-lvtkCommonComputationalGeometry-8.0\
-lvtkCommonCore-8.0\
-lvtkCommonDataModel-8.0\
-lvtkCommonExecutionModel-8.0\
-lvtkCommonMath-8.0\
-lvtkCommonMisc-8.0\
-lvtkCommonSystem-8.0\
-lvtkCommonTransforms-8.0\
-lvtkDICOMParser-8.0\
-lvtkDomainsChemistry-8.0\
-lvtkexoIIc-8.0\
-lvtkexpat-8.0\
-lvtkFiltersAMR-8.0\
-lvtkFiltersCore-8.0\
-lvtkFiltersExtraction-8.0\
-lvtkFiltersFlowPaths-8.0\
-lvtkFiltersGeneral-8.0\
-lvtkFiltersGeneric-8.0\
-lvtkFiltersGeometry-8.0\
-lvtkFiltersHybrid-8.0\
-lvtkFiltersHyperTree-8.0\
-lvtkFiltersImaging-8.0\
-lvtkFiltersModeling-8.0\
-lvtkFiltersParallel-8.0\
-lvtkFiltersParallelImaging-8.0\
-lvtkFiltersPoints-8.0\
-lvtkFiltersProgrammable-8.0\
-lvtkFiltersSelection-8.0\
-lvtkFiltersSMP-8.0\
-lvtkFiltersSources-8.0\
-lvtkFiltersStatistics-8.0\
-lvtkFiltersTexture-8.0\
-lvtkFiltersTopology-8.0\
-lvtkFiltersVerdict-8.0\
-lvtkfreetype-8.0\
-lvtkGeovisCore-8.0\
-lvtkgl2ps-8.0\
-lvtkGUISupportQt-8.0\
-lvtkGUISupportQtOpenGL-8.0\
-lvtkGUISupportQtSQL-8.0\
-lvtkhdf5-8.0\
-lvtkhdf5_hl-8.0\
-lvtkImagingColor-8.0\
-lvtkImagingCore-8.0\
-lvtkImagingFourier-8.0\
-lvtkImagingGeneral-8.0\
-lvtkImagingHybrid-8.0\
-lvtkImagingMath-8.0\
-lvtkImagingMorphological-8.0\
-lvtkImagingSources-8.0\
-lvtkImagingStatistics-8.0\
-lvtkImagingStencil-8.0\
-lvtkInfovisCore-8.0\
-lvtkInfovisLayout-8.0\
-lvtkInteractionImage-8.0\
-lvtkInteractionStyle-8.0\
-lvtkInteractionWidgets-8.0\
-lvtkIOAMR-8.0\
-lvtkIOCore-8.0\
-lvtkIOEnSight-8.0\
-lvtkIOExodus-8.0\
-lvtkIOExport-8.0\
-lvtkIOExportOpenGL-8.0\
-lvtkIOGeometry-8.0\
-lvtkIOImage-8.0\
-lvtkIOImport-8.0\
-lvtkIOInfovis-8.0\
-lvtkIOLegacy-8.0\
-lvtkIOLSDyna-8.0\
-lvtkIOMINC-8.0\
-lvtkIOMovie-8.0\
-lvtkIONetCDF-8.0\
-lvtkIOParallel-8.0\
-lvtkIOParallelXML-8.0\
-lvtkIOPLY-8.0\
-lvtkIOSQL-8.0\
-lvtkIOTecplotTable-8.0\
-lvtkIOVideo-8.0\
-lvtkIOXML-8.0\
-lvtkIOXMLParser-8.0\
-lvtkjpeg-8.0\
-lvtkjsoncpp-8.0\
-lvtklibharu-8.0\
-lvtklibxml2-8.0\
-lvtklz4-8.0\
-lvtkmetaio-8.0\
-lvtkNetCDF-8.0\
-lvtknetcdf_c++\
-lvtkoggtheora-8.0\
-lvtkParallelCore-8.0\
-lvtkpng-8.0\
-lvtkproj4-8.0\
-lvtkRenderingAnnotation-8.0\
-lvtkRenderingContext2D-8.0\
-lvtkRenderingContextOpenGL-8.0\
-lvtkRenderingCore-8.0\
-lvtkRenderingFreeType-8.0\
-lvtkRenderingGL2PS-8.0\
-lvtkRenderingImage-8.0\
-lvtkRenderingLabel-8.0\
-lvtkRenderingLIC-8.0\
-lvtkRenderingLOD-8.0\
-lvtkRenderingOpenGL-8.0\
-lvtkRenderingQt-8.0\
-lvtkRenderingVolume-8.0\
-lvtkRenderingVolumeOpenGL-8.0\
-lvtksqlite-8.0\
-lvtksys-8.0\
-lvtktiff-8.0\
-lvtkverdict-8.0\
-lvtkViewsContext2D-8.0\
-lvtkViewsCore-8.0\
-lvtkViewsInfovis-8.0\
-lvtkViewsQt-8.0\
-lvtkzlib-8.0
}
greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
CONFIG += c++11
# The following define makes your compiler emit warnings if you use
# any Qt feature that has been marked deprecated (the exact warnings
# depend on your compiler). Please consult the documentation of the
# deprecated API in order to know how to port your code away from it.
DEFINES += QT_DEPRECATED_WARNINGS
# You can also make your code fail to compile if it uses deprecated APIs.
# In order to do so, uncomment the following line.
# You can also select to disable deprecated APIs only up to a certain version of Qt.
#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
在我的.pro文件中還進行了PCL庫的配置，所以看起來比較多。
最後一步，即把工程的運行配置改爲release模式，這是因爲我們在編譯LASLib的時候就是在release模式下。
如果不進行此配置，便會出現下圖的錯誤。
這樣就完成了全部的配置，可進行.las格式點雲文件的讀寫。
我這裏進行了一個將.las格式點雲文件轉換爲.pcd格式文件的試驗。
下面我將代碼粘上來。
mainwindow.h
#ifndef MAINWINDOW_H
#define MAINWINDOW_H
#include <QMainWindow>
#include <vtkRenderWindow.h>
#include <vtkAutoInit.h>
VTK_MODULE_INIT(vtkRenderingOpenGL);
VTK_MODULE_INIT(vtkInteractionStyle);
VTK_MODULE_INIT(vtkRenderingFreeType);
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/common/common.h>
#include <pcl/common/transforms.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/statistical_outlier_removal.h>
#include <lasreader.hpp>
#include <laswriter.hpp>
#include <Eigen/Core>
#include <QFile>
#include <QMessageBox>
#include <QColorDialog>
#include <QInputDialog>
#include <QProgressDialog>
#include <QProgressBar>
#include <QTextStream>
#include <QFileDialog>
#include <QTextCodec>
#include <iostream>
#include <vector>
using namespace std;
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::PointCloud<pcl::PointXYZRGB>::Ptr pointptr;
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
};
#endif // MAINWINDOW_H
mainwindow.c
#include "mainwindow.h"
#include "ui_mainwindow.h"
int BGR=0;
int BGG=255;
int BGB=0;
MainWindow::MainWindow(QWidget *parent)
: QMainWindow(parent)
, ui(new Ui::MainWindow)
{
ui->setupUi(this);
LASreadOpener lasreadopener;
lasreadopener.set_file_name("C:\\Users\\applepc\\Desktop\\HanV2.0\\rabbit.las");
LASreader* lasreader = lasreadopener.open();
size_t ct = lasreader->header.number_of_point_records;
pointptr.reset(new pcl::PointCloud<pcl::PointXYZRGB>);
pointptr->resize(ct);
pointptr->width = 1;
pointptr->height = ct;
pointptr->is_dense = false;
size_t i = 0;
while(lasreader->read_point() && i < ct)
{
pointptr->points[i].x = lasreader->point.get_x();
pointptr->points[i].y = lasreader->point.get_y();
pointptr->points[i].z = lasreader->point.get_z();
++i;
}
viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));
viewer->addPointCloud(pointptr, "cloud");
viewer->setBackgroundColor (BGR, BGG, BGB);
// viewer->resetCamera();
ui->widget->SetRenderWindow(viewer->getRenderWindow());
viewer->setupInteractor(ui->widget->GetInteractor(), ui->widget->GetRenderWindow());
ui->widget->update();
}
MainWindow::~MainWindow()
{
delete ui;
}
有一點要注意的是讀取.las格式文件時，文件路徑中必須使用"\\"，而不能用"\"，不然無法識別，我將讀取的.las格式點雲文件轉換成pcd格式，並放入QVTKWidget中顯示，效果如下圖：
這樣就全部完成了，歡迎大家與我交流，QQ:1826380364