PCL点云数据读取及可视化

#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：