pcl 读取 stl模型生产点云

pcl 读取stl模型文件并生产点云：

#include "pcl/point_cloud.h"
#include "pcl/point_types.h"
#include "pcl/PolygonMesh.h"
#include "pcl/visualization/vtk.h"
#include "pcl/io/vtk_lib_io.h"
#include "pcl/visualization/cloud_viewer.h"
#include "/opt/ros/foxy/include/pcl_conversions/pcl_conversions.h"

        std::string model_file = file_path + "/model.STL";

        //方式一：
        pcl::PointCloud<pcl::PointNormal>::Ptr cloud(new pcl::PointCloud<pcl::PointNormal>());//创建点云对象
        pcl::PolygonMesh mesh_data;
        vtkSmartPointer<vtkPolyData> polydata = vtkSmartPointer<vtkPolyData>::New();

        pcl::io::loadPolygonFileSTL(model_file, mesh_data);   //PCL利用VTK的IO接口，可以直接读取stl,ply,obj等格式的三维点云数据,传给PolygonMesh对象
        pcl::io::mesh2vtk(mesh_data, polydata);  //将PolygonMesh对象转化为vtkPolyData对象
        pcl::io::vtkPolyDataToPointCloud(polydata, *cloud);//将vtkPolyData对象转化为Ptr对象， 获取点云
   
        //pcl::io::savePCDFileASCII("/home/jack/ros2_ws/1.pcd", *cloud);
        
        //方式二：   
         vtkSmartPointer<vtkSTLReader> reader = vtkSmartPointer<vtkSTLReader>::New();
         reader->SetFileName(model_file.c_str());
        reader->Update();
        vtkSmartPointer<vtkPolyData> polydata = vtkSmartPointer<vtkPolyData>::New();
        polydata = reader->GetOutput();
        polydata->GetNumberOfPoints();
        polydata->BuildCells();
        pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());
        pcl::io::vtkPolyDataToPointCloud(polydata, *cloud);

        //方法三
        pcl::io::loadPolygonFileSTL(model_file, mesh_data);
        pcl::fromPCLPointCloud2(mesh_data.cloud, *cloud);


        pcl::toROSMsg(*cloud,cloud_msg);