#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/ply_io.h>
#include <pcl/point_cloud.h>
//读取txt点云文件
void CreateCloudFromTxt(const std::string& file_path, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud)
{
std::ifstream file(file_path.c_str());
std::string line;
pcl::PointXYZ point;
while (getline(file, line)) {
std::stringstream ss(line);
ss >> point.x;
ss >> point.y;
ss >> point.z;
cloud->push_back(point);
}
file.close();
}
int main(int argc, char *argv[])
{
//读取点云数据
//创建一个PointCloud<pcl::PointXYZ> boost共享指针并进行实例化
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
std::string fileName = "xxx/pointcloud.pcd";
//std::string fileName = "xxx/pointcloud.ply";
//std::string fileName = "xxx/pointcloud.txt";
std::string suffix_str = fileName.substr(fileName.find_last_of('.') + 1);//获取文件后缀名
if(suffix_str.compare("pcd") == 0){ //pcd点云文件
if (pcl::io::loadPCDFile<pcl::PointXYZ>(fileName, *cloud) == -1) //* load the pcd file
{
std::cout <<"Couldn't read file \n";
return(-1) ;
}
}
else if(suffix_str.compare("ply") == 0){ //ply点云文件
if (pcl::io::loadPLYFile<pcl::PointXYZ>(fileName, *cloud) == -1) //* load the ply file
{
std::cout <<"Couldn't read file \n";
return(-1) ;
}
}
else if(suffix_str.compare("txt") == 0){ //txt点云文件
CreateCloudFromTxt(fileName, cloud);
}
else{
std::cout << "点云文件格式错误" << std::endl;
}
//输出点云数据
for (size_t i = 0; i < cloud->points.size(); ++i) //points.size表示点云数据的大小
{
std::cout << " " << cloud->points[i].x << " " << cloud->points[i].y << " " << cloud->points[i].z << " " << std::endl;
}
//可视化点云数据
//创建一个pcl::visualization::PCLVisualizer的boost::shared_ptr智能共享指针
boost::shared_ptr<pcl::visualization::PCLVisualizer> viewer;
//实例化viewer, 并给标题设置名称“3D Viewer”
viewer.reset(new pcl::visualization::PCLVisualizer ("3D Viewer"));
//设置视窗的背景色
viewer->setBackgroundColor (0, 0, 0);
//将点云添加到视觉窗口中,并设置唯一ID号
viewer->addPointCloud(cloud, "PointCloud_1");
//设置点云大小
viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 1, "PointCloud_1");
//通过设置照相机参数使得从默认的角度和方向观察点云
// viewer->initCameraParameters ();
// 阻塞式
viewer->spin();
}
可视化结果: