#include <pcl/common/common_headers.h>       // for pcl::PointCloud
#include <opencv2/opencv.hpp> 
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h> 
#include <boost/thread/thread.hpp>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>  
#include <vtkRenderWindow.h>
#include <vtkRenderWindowInteractor.h>
using namespace pcl;
using namespace std;

class CVtkDlgDemo : public CDialogEx
{
public:
   ......

   inline void ShowFrame() 
   { 
        if (m_cloudPtr->points.size() <= 0)
            return;
        m_viewer->addPointCloud(m_cloudPtr); 
   }
   int LoadCloudFile(const char* pFileName); 
public:
    afx_msg void OnBnClickedOpencloud();
    ......

private:
   vtkSmartPointer<vtkRenderWindow> m_win;
   vtkSmartPointer<vtkRenderWindowInteractor> m_iren;
   boost::shared_ptr<pcl::visualization::PCLVisualizer> m_viewer;
   pcl::PointCloud<pcl::PointXYZ>::Ptr m_cloudPtr;
   void AttachToWindow(HWND hWnd, int nWith, int nHeight);
}

void CVtkDlgDemo::AttachToWindow(HWND hWnd, int nWith, int nHeight)
{
    m_iren = vtkRenderWindowInteractor::New();  //重新申请地址
    m_win = m_viewer->getRenderWindow();        //获取viewer的句柄

    m_win->SetSize(nWith, nHeight);             //将viewer大小设置为图像控件大小
    m_win->SetParentId(hWnd);                   //将vtk窗口附加到MFC窗口中
    m_viewer->resetCamera();
    m_iren->SetRenderWindow(m_win);
    m_viewer->createInteractor();               //初始化设置为false，该处重新创建PCL风格的Interactor
    m_win->Render();
}


int CVtkDlgDemo::LoadCloudFile(const char* pFileName)
{
    if (pcl::io::loadPCDFile<pcl::PointXYZ>(pFileName, *m_cloudPtr) == -1) //* 读入PCD格式的文件，如果文件不存在，返回-1
    {
        PCL_ERROR("Couldn't read file cloud.pcd \n"); //文件不存在时，返回错误，终止程序。
        return (0);
    }
    return (1);
}

BOOL CVtkDlgDemo::OnInitDialog()
{
    ......

    // TODO: Add extra initialization here
    CRect rc;
    auto pFrame = GetDlgItem(IDC_FRAME);
    pFrame->GetClientRect(&rc);  //获取图像控件的实际大小
    AttachToWindow(pFrame->GetSafeHwnd(), rc.Width(), rc.Height());

    .....
}

void CVtkDlgDemo::OnBnClickedOpencloud()
{
    // TODO: Add your control notification handler code here
    if (!LoadCloudFile("cloud.pcd"))
        return;
    ShowFrame();
}