pcl::PointCloud 点云用vtk显示、转换类型及vtkPolyDataMapper报错处理

pcl的显示对少量点运显示，比如一条线，很不友好，需要旋转缩小才能找到，所以这里直接转成vtk显示。
函数直接传入参数，点云的指针即可。

#include <vtkSmartPointer.h>
#include <vtkPolyData.h>
#include <vtkPolyDataMapper.h>
#include <vtkActor.h>
#include <vtkProperty.h>
#include <vtkRenderWindow.h>
#include <vtkRenderer.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkLine.h>

#include <vtkAutoInit.h>
VTK_MODULE_INIT(vtkRenderingOpenGL);
VTK_MODULE_INIT(vtkInteractionStyle);

void plot(pcl::PointCloud<pcl::PointXYZ>::Ptr true_tgt_cloudOut)
{
	vtkSmartPointer<vtkPoints> points = vtkSmartPointer<vtkPoints>::New();
	vtkSmartPointer<vtkCellArray> vertices  = vtkSmartPointer<vtkCellArray>::New();

	for (int i = 0; i<true_tgt_cloudOut->size(); i++)
	{
		vtkIdType pid[1];
		pid[0] =  points->InsertNextPoint(true_tgt_cloudOut->at(i).x, true_tgt_cloudOut->at(i).y, true_tgt_cloudOut->at(i).z);
		vertices->InsertNextCell(1, pid);
	}



	vtkPolyData *polyData = vtkPolyData::New();
	polyData->SetPoints(points);
	polyData->SetVerts(vertices);

	vtkPolyDataMapper *mapper = vtkPolyDataMapper::New();
	mapper->SetInputData(polyData);

	vtkActor *actor = vtkActor::New();
	actor->SetMapper(mapper);
	actor->GetProperty()->SetColor(1.0, 0.0, 0.0);
	actor->GetProperty()->SetPointSize(3);

	vtkRenderer *renderer = vtkRenderer::New();
	renderer->AddActor(actor);
	renderer->SetBackground(.0, .0, .0);//set background

	vtkRenderWindow *renderwind = vtkRenderWindow::New();
	renderwind->AddRenderer(renderer);

	vtkInteractorStyleTrackballCamera *style = vtkInteractorStyleTrackballCamera::New();

	vtkRenderWindowInteractor *renderwindIt = vtkRenderWindowInteractor::New();
	renderwindIt->SetRenderWindow(renderwind);
	renderwindIt->SetInteractorStyle(style);

	renderwind->Render();
	renderwindIt->Start();

}

报错处理：

GenericWarning:InC:\Build\3rdParty\x64\VTK8.0.0\Rendering\Core\vtkPolyDataMapper.cxx, line 28
 Error: no override found for ‘vtkPolyDataMapper’.

修改：代码处添加如下：

然后根据你的OpenGL的版本在代码的最前面添加一下三行代码

#include <vtkAutoInit.h>
VTK_MODULE_INIT(vtkRenderingOpenGL);
VTK_MODULE_INIT(vtkInteractionStyle);

如果你的OpenGL版本为OpenGL2,那么在代码最前面插入一下代码

#include <vtkAutoInit.h>
VTK_MODULE_INIT(vtkRenderingOpenGL2);
VTK_MODULE_INIT(vtkInteractionStyle);

然后在属性的的链接器——输入——附加依赖项添加opengl32.lib。

再运行就OK了