pcl读取各类型点云并显示C++

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前言

pcl读取各类型点云（C++），包括：pcd、ply、txt，后续遇到新类型继续补充

一、pcl读取pcd文件

#define BOOST_TYPEOF_EMULATION
#include <vtkAutoInit.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>

int main()
{
	std::string filename = "../.pcd";
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	if (pcl::io::loadPCDFile<pcl::PointXYZ>(filename, *cloud) == -1)
	{
		std::cout << "error to read point cloud" << std::endl;
		return -1;
	}
	
	/****显示点云****/
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("ShowCloud"));
	viewer->setBackgroundColor(0, 0, 0);

	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(cloud, 255, 255, 255);
	viewer->addPointCloud<pcl::PointXYZ>(cloud, single_color, "cloud");
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");

	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}

	return 0;
}

二、pcl读取ply文件

#define BOOST_TYPEOF_EMULATION
#include <vtkAutoInit.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/io/ply_io.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>

int main()
{
	std::string filename = "../.ply";
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	if (pcl::io::loadPLYFile<pcl::PointXYZ>(filename, *cloud) == -1)
	{
		std::cout << "error to read point cloud" << std::endl;
		return -1;
	}
	
	/****显示点云****/
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("ShowCloud"));
	viewer->setBackgroundColor(0, 0, 0);

	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(cloud, 255, 255, 255);
	viewer->addPointCloud<pcl::PointXYZ>(cloud, single_color, "cloud");
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");

	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}

	return 0;
}

三、pcl读取txt文件

#define BOOST_TYPEOF_EMULATION
#include <vtkAutoInit.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>

void creat_pointcloud_from_txt(const std::string& file_path, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud);

int mian()
{
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	std::string filename = "../.txt";
	creat_pointcloud_from_txt(filename, cloud);
	
	if (cloud->size() == 0)
	{
		std::cout << "error to read point cloud" << std::endl;
		return -1;
	}

	/****显示点云****/
	boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer(new pcl::visualization::PCLVisualizer("ShowCloud"));
	viewer->setBackgroundColor(0, 0, 0);

	pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> single_color(cloud, 255, 255, 255);
	viewer->addPointCloud<pcl::PointXYZ>(cloud, single_color, "cloud");
	viewer->setPointCloudRenderingProperties(pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "cloud");

	while (!viewer->wasStopped())
	{
		viewer->spinOnce(100);
		boost::this_thread::sleep(boost::posix_time::microseconds(100000));
	}

	return 0;
}

/** 从txt文件中读取点云数据，这里只有X,Y,Z三坐标 **/
void creat_pointcloud_from_txt(const std::string& file_path, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud)
{
	std::ifstream file(file_path.c_str());  // 打开文件，.c_str将“file_path”转换为c风格字符串
	std::string line;   // 用于临时存储txt文件中的每一行数据。
	pcl::PointXYZ point;    // 用于读取txt文件中的点坐标
	if (file.is_open()) // 判断文件是否被打开
	{
		while (getline(file, line))  // 读取txt文件中的一行，默认遇到“/n”停止
		{
			std::stringstream ss(line); // 将这一行的字符串转换s为输入流，以便提取数据
			ss >> point.x;
			ss >> point.y;
			ss >> point.z;
			cloud->push_back(point);    // 将读取的数据添加进cloud中
		}
		file.close();   // 关闭文件流
	}
	else    // 错误处理
	{
		std::cout << " 无法打开文件 " << std::endl;
	}
}