读取点云文件(.xyz)

来源：互联网发布：南京淘宝软件有限公司编辑：程序博客网时间：2024/05/16 01:23

函数用于读取.xyz的点云文件，点云的格式为:

17.371559 -6.531680 -8.080792 0.242422 0.419118 0.87497015.640106 -16.101347 -9.550241 -0.543610 -0.382877 0.74692217.750742 -6.395478 -8.307115 0.333093 0.494766 0.80265515.432834 -15.947010 -9.587061 -0.548083 -0.385148 0.74247323.626318 -7.729815 -13.608750 0.081697 0.502976 0.86043115.300377 -15.610346 -9.547507 -0.569658 -0.341132 0.74774323.975805 -7.512131 -13.775388 0.082388 0.564137 0.82156124.251831 -7.345085 -13.949208 0.099309 0.574142 0.81271114.999881 -15.463743 -9.748975 -0.629676 -0.333713 0.70153014.804974 -15.162496 -9.758424 -0.616575 -0.334426 0.71273727.607445 -6.731058 -16.160894 0.387612 0.713240 0.58399114.560967 -14.955154 -9.909436 -0.638394 -0.335827 0.69258427.938255 -6.707172 -16.443462 0.379390 0.740941 0.55413914.290791 -14.852806 -10.137550 -0.692395 -0.381273 0.61255214.386531 -15.114174 -10.178914 -0.719801 -0.337913 0.60638414.001437 -14.247000 -10.103112 -0.735267 -0.343587 0.58423513.762934 -13.909647 -10.200064 -0.752330 -0.295280 0.588906

前面3个数字是坐标，后面3个数字是法向量，有多少行就代表有多少个点。

代码：

struct Point3d{    Point3d(){x=y=z=0.0f;}    float x;    float y;    float z;    bool operator<(const Point3d& p2 ) const    {        if (x == p2.x)         {            if (y == p2.y)             {                return (z < p2.z);            }            else return (y < p2.y);        }        else return (x < p2.x);    }};int ReadPointCloudFile(const std::string& strPath){    FILE *ifp = fopen(strPath.c_str(),"r");    if(ifp == NULL)    {        printf("Cannot open point cloud file.\n");        return -1;    }    //获取行数，即点的数量，用于设置std::vector的容量    const int BUFSIZE = 512;    char buf[BUFSIZE];    int rowNumber = 0;    while(fgets(buf,BUFSIZE,ifp) != NULL)    {        ++rowNumber;    }    fclose(ifp);    ifp = 0;    //重新打开文件，读取所有点的信息    ifp = fopen(strPath.c_str(),"r");    Point3d pointCoor;    Point3d pointNormal;    std::vector<Point3d> vecPtCoor;        //点坐标    std::vector<Point3d> vecPtNormal;      //法向量    vecPtCoor.reserve(rowNumber);    vecPtNormal.reserve(rowNumber);    while(fgets(buf,BUFSIZE,ifp) != NULL)  // read info line by line    {        sscanf(buf, "%f %f %f %f %f %f",               &(pointCoor.x),   &(pointCoor.y),   &(pointCoor.z),               &(pointNormal.x), &(pointNormal.y), &(pointNormal.z));        vecPtCoor.push_back(pointCoor);        vecPtNormal.push_back(pointNormal);    }    fclose(ifp);    ifp = 0;    return 0;}

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