1.读取TXT格式点云(Qt ifstream)
参考博客:https://blog.csdn.net/cutemypig/article/details/110854897
头文件
#include <vtkAutoInit.h>
VTK_MODULE_INIT(vtkRenderingOpenGL)
VTK_MODULE_INIT(vtkInteractionStyle)
#include <vtkRenderWindow.h>
#include<pcl/point_types.h>
#include<pcl/visualization/pcl_visualizer.h>
#include<pcl/io/pcd_io.h>
ui.setupUi(this);
QString str = tr("PCL+QT+VTK点云显示");
this->setWindowTitle(str);
//pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
//boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
cloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>);
viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));
/*QString filename = "./1.pcd";
if(pcl::io::loadPCDFile(filename.toStdString(),*cloud)==-1)
{
cout << "加载文档失败" << endl;
}*/
//读TXT点云文档
std::string filename = "./1.txt";
ifstream infile;
infile.open(filename.data());
assert(infile.is_open());
std::string s;
while (getline(infile,s))
{
QString ss, s1, s2, s3;
ss = tr(s.c_str());
s1 = ss.section(" ", 0, 0);
s2 = ss.section(" ", 1, 1);
s3 = ss.section(" ", 2, 2);
pcl::PointXYZRGB current_point;
current_point.x = s1.toFloat();
current_point.y = s2.toFloat();
current_point.z = s3.toFloat();
cloud->points.push_back(current_point);
}
infile.close();
//初始化颜色及大小信息
int red = 255;
int green = 255;
int blue = 255;
float size = 2.0;
//将PCLVisualizer与QVTKWidget联系起来
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGB>single_color(cloud,red, green, blue);
viewer->addPointCloud<pcl::PointXYZRGB>(cloud, single_color, "cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, size, "cloud");
ui.qvtkWidget->SetRenderWindow(viewer->getRenderWindow());//将渲染输出到插件
viewer->setupInteractor(ui.qvtkWidget->GetInteractor(),ui.qvtkWidget->GetRenderWindow());//将插件的交互器传递给PCLVisualizer
ui.qvtkWidget->update();
2.读取PCD格式点云
ui.setupUi(this);
QString str = tr("PCL+QT+VTK点云显示");
this->setWindowTitle(str);
//pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud;
//boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
cloud.reset(new pcl::PointCloud<pcl::PointXYZRGB>);
viewer.reset(new pcl::visualization::PCLVisualizer("viewer", false));
QString filename = "./1.pcd";
if(pcl::io::loadPCDFile(filename.toStdString(),*cloud)==-1)
{
cout << "加载文档失败" << endl;
}
//初始化颜色及大小信息
int red = 255;
int green = 255;
int blue = 255;
float size = 2.0;
//将PCLVisualizer与QVTKWidget联系起来
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGB>single_color(red, green, blue);
viewer->addPointCloud<pcl::PointXYZRGB>(cloud, single_color, "cloud");
viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, size, "cloud");
ui.qvtkWidget->SetRenderWindow(viewer->getRenderWindow());//将渲染输出到插件
viewer->setupInteractor(ui.qvtkWidget->GetInteractor(),ui.qvtkWidget->GetRenderWindow());//将插件的交互器传递给PCLVisualizer
ui.qvtkWidget->update();
参考
1.https://blog.csdn.net/qq_33656619/article/details/106630322
2.https://blog.csdn.net/qinqinxiansheng/article/details/104272200