Halcon怎么快速读取自定义点云TXT文件

非常详细的描述，请看下面链接博文。

http://www.heindl-solutions.com/blog_read_point_cloud.html

1、ReadPointCloudFromTextfile（::Filename:X,Y,Z）

open_file(Filename,'input',file)

NumColumns := 3
VecOutLine.clear()

repeat
    fread_line(file, oneline, IsEOF)
    if(IsEOF == 1)
        break        
    endif
    if(oneline == ' ')
        continue
    endif
    tuple_str_first_n (oneline, 0, Substring)
    if(Substring == '#')
        continue
    endif
    VecOutLine.at(VecOutLine.length()) := oneline
until (IsEOF)

convert_vector_to_tuple(VecOutLine, P)

P := split(P,' ')

Number := number(regexp_replace(P,'^\\s*0*(.+?)\\s*\n*$','$1'))
P := HNULL

X := Number[[0:NumColumns:|Number|-1]]
Y := Number[[1:NumColumns:|Number|-1]]
Z := Number[[2:NumColumns:|Number