pcl之从txt中读取点云

#include<fstream>
#include <pcl/visualization/pcl_visualizer.h>

//-------------------------------从txt文件中读取三维坐标-------------------------------------
void readPointCloudFromTxt(const std::string& file_path, pcl::PointCloud<pcl::PointXYZ>& cloud)
{
    cloud.clear();
    std::fstream file(file_path.c_str());
    pcl::PointXYZ point;
    while (!file.eof()) {
        file >> point.x >> point.y >> point.z;
        cloud.push_back(point);
    }
    file.close();
}


//----------------------------------------可视化---------------------------------------------
void visualization(pcl::PointCloud<pcl::PointXYZ> cloud)
{
    boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("viewer"));
    // 添加需要显示的点云数据
    pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(cloud.makeShared(), 255, 0, 0);
    viewer->addPointCloud<pcl::PointXYZ>(cloud.makeShared(), single_color, "example");
    viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 2, "example");

    while (!viewer->wasStopped()) {
        viewer->spinOnce(100);
    }
}

int main(int argc, char** argv) {
    // -------------------从txt中读取点云----------------------
    pcl::PointCloud<pcl::PointXYZ> cloud;
    readPointCloudFromTxt("/home/rvbust/Documents/data.txt", cloud);
    // -----------------可视化点云---------------------
    visualization(cloud);

    return 0;
}