C#+VTK显示点云

PS：第一次处理点云，记录一下。

基础环境：VS（我用的2019 ，之前用2012离线版报错了）
话不多说，先上效果图：

效果肯定没有CloudCompare好，但是能处理就行了，这个视窗按住鼠标中键是平移，左键拖动是旋转，设计有点反人类

具体实现步骤如下
第一步：
新建一个Win From窗体，用于放置控件。
（这个我就不放图了）
第二步：
通过Nuget包管理工具下载VTK的库

安装完在项目的引用里会多两个DLL

第三步：
当有了这两个DLL后，去工具箱的控件里找renderWindowControl控件，把它拖到winfrom 桌面，再放一个button 按钮，以方便验证程式

最后调用库里的IO类，去读写点文件，并显示出来，源码如下：

private void ReadPlainText()
        {
            // Path to vtk data must be set as an environment variable
            // VTK_DATA_ROOT = "C:\VTK\vtkdata-5.8.0"
            vtkTesting test = vtkTesting.New();
            string root = test.GetDataRoot();
            //string filePath = System.IO.Path.Combine(root, @"Data\teapot.xyz");
            string filePath = System.IO.Path.Combine(@"test2.xyz");
            FileStream fs = null;
            StreamReader sr = null;
            String sLineBuffer;
            String[] sXYZ;
            char[] chDelimiter = new char[] { ' ', '\t', ';' };
            double[] xyz = new double[3];
            vtkPoints points = vtkPoints.New();
            int cnt = 0;

            try
            {
                // in case file must be open in another application too use "FileShare.ReadWrite"
                fs = new FileStream(filePath, FileMode.Open, FileAccess.Read, FileShare.ReadWrite);
                sr = new StreamReader(fs);
                while (!sr.EndOfStream)
                {
                    sLineBuffer = sr.ReadLine();
                    cnt++;
                    sXYZ = sLineBuffer.Split(chDelimiter, StringSplitOptions.RemoveEmptyEntries);
                    if (sXYZ == null || sXYZ.Length < 3)
                    {
                        MessageBox.Show("data seems to be in wrong format at line " + cnt, "Format Exception", MessageBoxButtons.OK);
                        return;
                    }
                    xyz[0] = double.Parse(sXYZ[0], CultureInfo.InvariantCulture);
                    xyz[1] = double.Parse(sXYZ[1], CultureInfo.InvariantCulture);
                    xyz[2] = double.Parse(sXYZ[2], CultureInfo.InvariantCulture);
                    points.InsertNextPoint(xyz[0], xyz[1], xyz[2]);
                }
                vtkPolyData polydata = vtkPolyData.New();
                polydata.SetPoints(points);
                vtkVertexGlyphFilter glyphFilter = vtkVertexGlyphFilter.New();
                glyphFilter.SetInputConnection(polydata.GetProducerPort());

                // Visualize
                vtkPolyDataMapper mapper = vtkPolyDataMapper.New();
                mapper.SetInputConnection(glyphFilter.GetOutputPort());

                vtkActor actor = vtkActor.New();
                actor.SetMapper(mapper);
                actor.GetProperty().SetPointSize(4);
                actor.GetProperty().SetColor(1, 0.5, 0);
                // get a reference to the renderwindow of our renderWindowControl1
                vtkRenderWindow renderWindow = renderWindowControl1.RenderWindow;
                // renderer
                vtkRenderer renderer = renderWindow.GetRenderers().GetFirstRenderer();
                // set background color
                renderer.SetBackground(0.2, 0.3, 0.4);
                // add our actor to the renderer
                renderer.AddActor(actor);
            }
            catch (IOException ex)
            {
                MessageBox.Show(ex.Message, "IOException", MessageBoxButtons.OK);
            }
            finally
            {
                if (sr != null)
                {
                    sr.Close();
                    sr.Dispose();
                    sr = null;
                }
            }
        }

PS：大家也可以去官方原网站学习，里面也有C#的范例
官方地址：https://kitware.github.io/vtk-examples/site/CSharp/IO/ReadPLY/