1 txt文档点云数据格式

三维点云坐标按 X Y Z的方式存入到txt文档中,如下图所示,

VTK读取一个TXT文档中的三维点坐标显示三维点云-StubbornHuang Blog

2 Vtk5.10版本非智能指针代码

#include <iostream>
#include <vector>
#include "vtkActor.h"
#include "vtkRenderer.h"
#include "vtkRenderWindow.h"
#include "vtkRenderWindowInteractor.h"
#include "vtkProperty.h"
#include "vtkInteractorStyleTrackballCamera.h"
#include "vtkPoints.h"
#include "vtkPolyVertex.h"
#include "vtkUnstructuredGrid.h"
#include "vtkDataSetMapper.h"
#include "vtkPolyData.h"
#include "vtkCellArray.h"
#include "vtkInteractorStyleTrackball.h"
#include "vtkPolyDataMapper.h"
using namespace std;

void main(int argc, char* argv[])
{ 
    vtkPoints *m_Points = vtkPoints::New();
    vtkCellArray *vertices = vtkCellArray::New();   //_存放细胞顶点,用于渲染(显示点云所必须的)
    vtkPolyData *polyData = vtkPolyData::New();
    vtkPolyDataMapper *pointMapper = vtkPolyDataMapper::New();
    vtkActor *pointActor = vtkActor::New();
    vtkRenderer *ren1= vtkRenderer::New();
    vtkRenderWindow *renWin = vtkRenderWindow::New();
    vtkRenderWindowInteractor *iren = vtkRenderWindowInteractor::New();
    vtkInteractorStyleTrackball *istyle = vtkInteractorStyleTrackball::New();

    //_读进点云数据信息
    FILE*fp = NULL; fp=fopen("point.txt","r");  //2DpointDatas.txt
    if(!fp)
    {

        printf("打开文件失败!!\n");
        int m;
        cin>>m;
        exit(0);
    }
    double x=0,y=0,z=0;
    int i = 0;
    while (!feof(fp))
    {
        fscanf(fp,"%lf %lf %lf",&x,&y,&z);    
        m_Points->InsertPoint(i,x,y,z);      //_加入点信息
        vertices->InsertNextCell(1);     //_加入细胞顶点信息----用于渲染点集
        vertices->InsertCellPoint(i);
        i ++;
    }   
    fclose(fp);

    //_创建待显示数据源

    polyData->SetPoints(m_Points);       //_设置点集
    polyData->SetVerts(vertices);        //_设置渲染顶点
    pointMapper->SetInput( polyData );

    pointActor->SetMapper( pointMapper );
    pointActor->GetProperty()->SetColor(0.0,0.1,1.0);
    pointActor->GetProperty()->SetAmbient(0.5);
    pointActor->GetProperty()->SetPointSize(2);
    //pointActor->GetProperty()->SetRepresentationToWireframe();
    //pointActor->GetProperty()->SetRepresentationToSurface();

    ren1->AddActor( pointActor );
    ren1->SetBackground( 0, 0, 0);

    renWin->AddRenderer( ren1 );
    renWin->SetSize(800,800);

    iren->SetInteractorStyle(istyle);  
    iren->SetRenderWindow(renWin);  //交互

    renWin->Render();
    iren->Start();

    //删除各指针
    m_Points->Delete();
    vertices->Delete();
    polyData->Delete();
    pointMapper->Delete();
    pointActor->Delete();
    ren1->Delete();
    renWin->Delete();
    iren->Delete();
    istyle->Delete();
} 

2 Vtk5.10版本智能指针代码

#include <iostream>
#include <vector>
#include <vtkActor.h>
#include <vtkRenderer.h>
#include <vtkRenderWindow.h>
#include <vtkRenderWindowInteractor.h>
#include <vtkProperty.h>
#include <vtkInteractorStyleTrackball.h>
#include <vtkInteractorStyleTrackballCamera.h>
#include <vtkPoints.h>
#include <vtkPolyData.h>
#include <vtkCellArray.h>
#include <vtkPolyDataMapper.h>
#include <vtkSmartPointer.h>
using namespace std;

void main(int argc, char* argv[])
{ 
    vtkSmartPointer<vtkPoints> m_Points = vtkSmartPointer<vtkPoints>::New();
    vtkSmartPointer<vtkCellArray> vertices =vtkSmartPointer<vtkCellArray>::New();   //_存放细胞顶点,用于渲染(显示点云所必须的)
    vtkSmartPointer<vtkPolyData> polyData = vtkSmartPointer<vtkPolyData>::New();
    vtkSmartPointer<vtkPolyDataMapper> pointMapper = vtkSmartPointer<vtkPolyDataMapper>::New();
    vtkSmartPointer<vtkActor> pointActor = vtkSmartPointer<vtkActor>::New();
    vtkSmartPointer<vtkRenderer> ren1=vtkSmartPointer< vtkRenderer>::New();
    vtkSmartPointer<vtkRenderWindow> renWin = vtkSmartPointer<vtkRenderWindow>::New();
    vtkSmartPointer<vtkRenderWindowInteractor> iren =vtkSmartPointer<vtkRenderWindowInteractor>::New();
    vtkSmartPointer<vtkInteractorStyleTrackballCamera> istyle = vtkSmartPointer<vtkInteractorStyleTrackballCamera>::New();

    //_读进点云数据信息
    FILE*fp = NULL; fp=fopen("E:\\斯坦福兔子3000点.txt","r"); //2DpointDatas.txt
    if(!fp)
    {

        printf("打开文件失败!!\n");
        int m;
        cin>>m;
        exit(0);
    }
    double x=0,y=0,z=0;
    int i = 0;
    while (!feof(fp))
    {
        fscanf(fp,"%lf %lf %lf",&x,&y,&z);    
        m_Points->InsertPoint(i,x,y,z);      //_加入点信息
        vertices->InsertNextCell(1);     //_加入细胞顶点信息----用于渲染点集
        vertices->InsertCellPoint(i);
        i ++;
    }   
    fclose(fp);

    //_创建待显示数据源

    polyData->SetPoints(m_Points);       //_设置点集
    polyData->SetVerts(vertices);        //_设置渲染顶点
    pointMapper->SetInput( polyData );

    pointActor->SetMapper( pointMapper );
    pointActor->GetProperty()->SetColor(0.0,0.1,1.0);
    pointActor->GetProperty()->SetAmbient(0.5);
    pointActor->GetProperty()->SetPointSize(2);
    //pointActor->GetProperty()->SetRepresentationToWireframe();
    //pointActor->GetProperty()->SetRepresentationToSurface();

    ren1->AddActor( pointActor );
    ren1->SetBackground( 0, 0, 0);

    renWin->AddRenderer( ren1 );
    renWin->SetSize(800,800);

    iren->SetInteractorStyle(istyle);  
    iren->SetRenderWindow(renWin);  //交互

    renWin->Render();
    iren->Start();
} 

4 示例结果

VTK读取一个TXT文档中的三维点坐标显示三维点云-StubbornHuang Blog
VTK读取一个TXT文档中的三维点坐标显示三维点云-StubbornHuang Blog
VTK读取一个TXT文档中的三维点坐标显示三维点云-StubbornHuang Blog

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