PCL Viewer with Qt GUI minimal code

CMakeLists.txt

cmake_minimum_required(VERSION 2.6)

PROJECT(qt_vtk_pcl)

list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR})


find_package(PCL 1.7 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

FIND_PACKAGE(VTK)
INCLUDE(${VTK_USE_FILE})

FIND_PACKAGE(Qt4 REQUIRED)
INCLUDE(${QT_USE_FILE})

file(GLOB UI_FILES *.ui)
file(GLOB QT_WRAP *.h)
file(GLOB CXX_FILES *.cpp)


QT4_WRAP_UI(UISrcs ${UI_FILES})
QT4_WRAP_CPP(MOCSrcs ${QT_WRAP})
ADD_EXECUTABLE(qt_vtk_pcl ${CXX_FILES} ${UISrcs} ${MOCSrcs})
TARGET_LINK_LIBRARIES(qt_vtk_pcl QVTK ${PCL_LIBRARIES})

pclwindow.cpp

#include "pclwindow.h"
#include "build/ui_pclwindow.h"
#include <QFileDialog>
#include <QMessageBox>

#include <pcl/point_types.h>
#include <pcl/common/common.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/io/pcd_io.h>
#include <vtkRenderWindow.h>
#include <iostream>
#include <boost/filesystem.hpp>
#include <boost/thread/thread.hpp>
#include <boost/bind.hpp>



pcl::visualization::PCLVisualizer pviz ("test_viz", false);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_xyz (new pcl::PointCloud<pcl::PointXYZ>);

Pclwindow::Pclwindow(QWidget *parent) :
    QMainWindow(parent),
    ui(new Ui::Pclwindow)
{
    ui->setupUi(this);

    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_xyz (new pcl::PointCloud<pcl::PointXYZ>);
    for (float y = -0.5f; y <= 0.5f; y += 0.01f)
    {
      for (float z = -0.5f; z <= 0.5f; z += 0.01f)
      {
        pcl::PointXYZ point;
        point.x = 2.0f - y;
        point.y = y;
        point.z = z;
        cloud_xyz->points.push_back (point);
      }
    }
    cloud_xyz->width = cloud_xyz->points.size ();
    cloud_xyz->height = 1;

       vtkSmartPointer<vtkRenderWindow> renderWindow = pviz.getRenderWindow();
       ui->widget->SetRenderWindow (renderWindow);

       pviz.setupInteractor (ui->widget->GetInteractor (), ui->widget->GetRenderWindow ());
       pviz.getInteractorStyle ()->setKeyboardModifier (pcl::visualization::INTERACTOR_KB_MOD_SHIFT);

       pviz.addPointCloud<pcl::PointXYZ>(cloud_xyz);
       pviz.setBackgroundColor(0, 0, 0.1);


   ui->widget->show();

}

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

void Pclwindow::on_action_triggered()
{
    this->close();
}

void Pclwindow::on_action_2_triggered()
{
    QString fileName = QFileDialog::getOpenFileName(this, tr("Open File"), "", tr("Files (*.pcd)"));
    if (fileName != "")
    {
        pviz.removeAllPointClouds();
        ui->widget->setDisabled(true);
        ui->menuBar->setDisabled(true);
        boost::thread t(boost::bind(pcl::io::loadPCDFile<pcl::PointXYZ>, fileName.toStdString(), boost::ref(*cloud_xyz)));
        //for (int i = 0; i <= (int) sec; i++)
        //{
        //    ui->progressBar->setValue((int) ((i/sec)*100));
        //    ui->label->setText(QString::fromStdString("Wait for "+boost::lexical_cast<std::string>(((int)sec)-i)+" sec"));
            //boost::this_thread::sleep(boost::posix_time::seconds(1)); // wait 1 sec
        //}
        t.join();
        ui->progressBar->setValue(100);
        ui->widget->setEnabled(true);
        ui->menuBar->setEnabled(true);
        if (cloud_xyz->size() > 0)
        {
            pviz.addPointCloud<pcl::PointXYZ>(cloud_xyz);
            ui->progressBar->setValue(0);
        }
    };
}

pclwindow.h

#ifndef PCLWINDOW_H
#define PCLWINDOW_H
#include <QMainWindow>

namespace Ui {
class Pclwindow;
}

class Pclwindow : public QMainWindow
{
    Q_OBJECT

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

private slots:
    void on_action_triggered();

    void on_action_2_triggered();


private:
    Ui::Pclwindow *ui;
};

#endif // PCLWINDOW_H

pclwindow.ui

<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
 <class>Pclwindow</class>
 <widget class="QMainWindow" name="Pclwindow">
  <property name="geometry">
   <rect>
    <x>0</x>
    <y>0</y>
    <width>710</width>
    <height>414</height>
   </rect>
  </property>
  <property name="windowTitle">
   <string>Pclwindow</string>
  </property>
  <widget class="QWidget" name="centralWidget">
   <layout class="QGridLayout" name="gridLayout">
    <item row="0" column="0">
     <widget class="QVTKWidget" name="widget" native="true">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
        <horstretch>0</horstretch>
        <verstretch>0</verstretch>
       </sizepolicy>
      </property>
      <property name="minimumSize">
       <size>
        <width>601</width>
        <height>271</height>
       </size>
      </property>
     </widget>
    </item>
    <item row="1" column="0">
     <widget class="QProgressBar" name="progressBar">
      <property name="value">
       <number>24</number>
      </property>
     </widget>
    </item>
   </layout>
  </widget>
  <widget class="QMenuBar" name="menuBar">
   <property name="geometry">
    <rect>
     <x>0</x>
     <y>0</y>
     <width>710</width>
     <height>21</height>
    </rect>
   </property>
   <widget class="QMenu" name="menu">
    <property name="title">
     <string>File</string>
    </property>
    <addaction name="action_2"/>
    <addaction name="action"/>
   </widget>
   <addaction name="menu"/>
  </widget>
  <widget class="QToolBar" name="mainToolBar">
   <attribute name="toolBarArea">
    <enum>TopToolBarArea</enum>
   </attribute>
   <attribute name="toolBarBreak">
    <bool>false</bool>
   </attribute>
  </widget>
  <widget class="QStatusBar" name="statusBar"/>
  <action name="action">
   <property name="text">
    <string>Exit</string>
   </property>
  </action>
  <action name="action_2">
   <property name="text">
    <string>Open file</string>
   </property>
  </action>
 </widget>
 <layoutdefault spacing="6" margin="11"/>
 <customwidgets>
  <customwidget>
   <class>QVTKWidget</class>
   <extends>QWidget</extends>
   <header>QVTKWidget.h</header>
  </customwidget>
 </customwidgets>
 <resources/>
 <connections/>
</ui>

qt_vtk_pcl.cpp

#include <QApplication>

#include "pclwindow.h"

int main(int argc, char** argv)
{
 QApplication app(argc, argv);
 Pclwindow w;
 w.show();

 app.exec();

 return EXIT_SUCCESS;
}