halcon 使用txt文件格式显示点云

一、halcon中txt格式点云显示（x、y、z）

Filename := 'E:/3d/hancon3d/taotong4.txt'
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|-1]]

close_file(file)
gen_object_model_3d_from_points (X,Y,Z,ObjectModel3D)

X := HNULL
Y := HNULL
Z := HNULL

dev_get_window (WindowHandle)
visualize_object_model_3d (WindowHandle, ObjectModel3D, [], [], [], [], [], [], [], PoseOut)

运行截图如下：

二、PCL中格式转换代码 txt转pcd

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

#include <pcl/visualization/pcl_visualizer.h> 

using namespace std;
int main()
{
    
    typedef struct tagPOINT_3D
    {
    
        double x;  //mm world coordinate x 
        double y;  //mm world coordinate y 
        double z;  //mm world coordinate z 
        double r;
    }POINT_WORLD;


    /加载txt数据  
    int number_Txt;
    FILE *fp_txt;
    tagPOINT_3D TxtPoint;
    vector<tagPOINT_3D> m_vTxtPoints;
    fp_txt = fopen("za.txt", "r");
    if (fp_txt)
    {
    
        while (fscanf(fp_txt, "%lf %lf %lf", &TxtPoint.x, &TxtPoint.y, &TxtPoint.z) != EOF)
        {
    
            m_vTxtPoints.push_back(TxtPoint);
        }
    }
    else
        cout << "txt数据加载失败！" << endl;
    number_Txt = m_vTxtPoints.size();
    //pcl::PointCloud<pcl::PointXYZ> cloud;
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    // Fill in the cloud data 
    cloud->width = number_Txt;
    cloud->height = 1;
    cloud->is_dense = false;
    cloud->points.resize(cloud->width * cloud->height);
    for (size_t i = 0; i < cloud->points.size(); ++i)
    {
    
        cloud->points[i].x = m_vTxtPoints[i].x;
        cloud->points[i].y = m_vTxtPoints[i].y;
        cloud->points[i].z = m_vTxtPoints[i].z;
    }
    pcl::io::savePCDFileASCII("txt2pcd_bunny1.pcd", *cloud);
    std::cerr << "Saved " << cloud->points.size() << " data points to txt2pcd.pcd." << std::endl;

    //for (size_t i = 0; i < cloud.points.size(); ++i)
    // std::cerr << " " << cloud.points[i].x << " " << cloud.points[i].y << " " << cloud.points[i].z << std::endl;

    //PCL Visualizer
    // Viewer 
    pcl::visualization::PCLVisualizer viewer("Cloud Viewer");
    viewer.addPointCloud(cloud);
    viewer.setBackgroundColor(1, 0.5, 1);

    viewer.spin();
    system("pause");
    return 0;
}

三、PCL中格式转换代码 pcd转txt

#include <iostream>
#include <pcl/io/pcd_io.h> 
#include <pcl/point_types.h> 

using namespace std;

int main(int argc, char *argv[])
{
    
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
    // Fill in the cloud data 
    if (pcl::io::loadPCDFile<pcl::PointXYZ>("chuli.pcd", *cloud) == -1)
    {
    
        PCL_ERROR("Couldn't read file chuli.pcd\n");
        return (-1);
    }
    //for (size_t i = 0; i < cloud->points.size(); i++)
    // std::cout << " " << cloud->points[i].x << " " << cloud->points[i].y
    // <<" "<< cloud->points[i].z << std::endl;
    int Num = cloud->points.size();
    double *X = new double[Num] {
    0};
    double *Y = new double[Num] {
    0};
    double *Z = new double[Num] {
    0};
    for (size_t i = 0; i < cloud->points.size(); ++i)
    {
    
        X[i] = cloud->points[i].x;
        Y[i] = cloud->points[i].y;
        Z[i] = cloud->points[i].z ;
    }

    ofstream zos("chuli.txt");
    for (int i = 0; i<Num; i++)
    {
    
        zos << X[i] << " " << Y[i] << " " << Z[i] << endl;
    }
    cout << "trans has done!!!" << endl;
    cin.get();
    return 0;
}

参考链接：
1.https://blog.csdn.net/j_cou/article/details/80329454
2.https://blog.csdn.net/qq_41738631/article/details/86530390
3.