Windows VS2017安装配置PCL点云库
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运行代码如下:
#include <pcl/visualization/cloud_viewer.h>
#include <iostream>//标准C++库中的输入输出类相关头文件。
#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>//pcd 读写类相关的头文件。
#include <pcl/io/ply_io.h>
#include <pcl/point_types.h> //PCL中支持的点类型头文件。
#include<fstream>
#include <string>
#include <vector>
using namespace std;
int main()
{
typedef struct tagPOINT_3D
{
double x; //mm world coordinate x
double y; //mm world coordinate y
double z; //mm world coordinate z
double r;
}POINT_WORLD;
/加载txt数据
int number_Txt;
FILE *fp_txt;
tagPOINT_3D TxtPoint;
vector<tagPOINT_3D> m_vTxtPoints;
fp_txt = fopen("za.txt", "r");
if (fp_txt)
{
while (fscanf(fp_txt, "%lf %lf %lf", &TxtPoint.x, &TxtPoint.y, &TxtPoint.z) != EOF)
{
m_vTxtPoints.push_back(TxtPoint);
}
}
else
cout << "txt数据加载失败!" << endl;
number_Txt = m_vTxtPoints.size();
//pcl::PointCloud<pcl::PointXYZ> cloud;
//这里使用“PointXYZ”是因为我后面给的点云信息是包含的三维坐标,同时还有点云信息包含的rgb颜色信息的或者还有包含rgba颜色和强度信息。
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
// Fill in the cloud data
cloud->width = number_Txt;
cloud->height = 1;
cloud->is_dense = false;
cloud->points.resize(cloud->width * cloud->height);
for (size_t i = 0; i < cloud->points.size(); ++i)
{
cloud->points[i].x = m_vTxtPoints[i].x;
cloud->points[i].y = m_vTxtPoints[i].y;
cloud->points[i].z = m_vTxtPoints[i].z;
}
pcl::io::savePCDFileASCII("txt2pcd_bunny1.pcd", *cloud);
std::cerr << "Saved " << cloud->points.size() << " data points to txt2pcd.pcd." << std::endl;
//for (size_t i = 0; i < cloud.points.size(); ++i)
// std::cerr << " " << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl;
//PCL Visualizer
// Viewer
pcl::visualization::PCLVisualizer viewer("Cloud Viewer");
viewer.addPointCloud(cloud);
viewer.setBackgroundColor(0, 0, 0);
viewer.spin();
system("pause");
return 0;
}
运行结果: