0
点赞
收藏
分享

微信扫一扫

txt转pcd并可视化


txt文件转为pcd文件并可视化

#include<iostream>

#include<fstream>
#include<vector>
#include<string>
#include<pcl/io/pcd_io.h>
#include<pcl/point_types.h>

#include <pcl/visualization/pcl_visualizer.h>//可视化
using namespace std;

int main()
{
//定义一种类型表示TXT中xyz
typedef struct TXT_Point_XYZ
{
double x;
double y;
double z;
}TOPOINT_XYZ;

//读取txt文件
int num_txt;
FILE *fp_txt;
TXT_Point_XYZ txt_points;
vector<TXT_Point_XYZ> my_vTxtPoints;
fp_txt = fopen("in.txt","r");

if (fp_txt)
{
while (fscanf(fp_txt, "%lf %lf %lf", &txt_points.x, &txt_points.y, &txt_points.z) != EOF)
{//将点存入容器尾部
my_vTxtPoints.push_back(txt_points);
}
}
else
cout << "读取txt文件失败"<<endl;

num_txt = my_vTxtPoints.size();

//写入点云数据
pcl::PointCloud<pcl::PointXYZ> ::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
cloud->width = num_txt;
cloud->height = 1;
cloud->is_dense = false;
cloud->points.resize(cloud->width*cloud->height);
for (int i = 0; i < cloud->points.size(); ++i)
{
cloud->points[i].x = my_vTxtPoints[i].x;
cloud->points[i].y = my_vTxtPoints[i].y;
cloud->points[i].z = my_vTxtPoints[i].z;
}
pcl::io::savePCDFileASCII("out.pcd", *cloud);
cout<< "从 txt_pcd.txt读取" << cloud->points.size() << "点写入txt_pcd.pcd" << endl;

//打印出写入的点
cout << "_________________________________" << endl;
for (size_t i = 0; i < cloud->points.size(); ++i)
cout << " " << cloud->points[i].x
<< " " << cloud->points[i].y
<< " " << cloud->points[i].z << endl;
cout<<"\n-------------------\n"<<"PointCloud Size: "<<cloud->size()<<endl;

//可视化
pcl::visualization::PCLVisualizer viewer("3D Viewer");


int v2(0);
// viewer.createViewPort(0,0,0.5,1,v2);
viewer.setBackgroundColor(1,200,200);
pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZ> color2(cloud, 0,0,0);
viewer.addPointCloud(cloud,color2,"cloud",v2);
viewer.setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 9, "cloud");
viewer.addText("cloud_normalized",0,0,"cloud",v2);

viewer.addCoordinateSystem();
while(!viewer.wasStopped())
{
viewer.spinOnce();
}



return 0;
}

 

举报

相关推荐

0 条评论