vtk点云数据的显示

#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"



int main(int argc, char* argv[])

{

    FILE *fp = NULL;

    if (argc==1)

    {

        if ((fp=fopen("venus.asc","r"))== NULL)

        {

            printf("Error in open file mbr.asc\n");

            return 1;

        }

    }

    else

    {

        if ((fp=fopen(argv[1],"r"))== NULL)

        {

            printf("Error in open file %s\n", argv[1]);

            return 1;

        }

    }



    vtkRenderer *ren=vtkRenderer::New();

    double arr[3];



    vtkPoints * points = vtkPoints::New();

    int n=0;

    while(!feof(fp))//首先读取点云数据到点表points同时指定点对应的id:

    {

        int ret=fscanf(fp,"%lf %lf %lf",&arr[0],&arr[1],&arr[2]);

        if(ret!=3)

            break;     

        points->InsertPoint(n,arr[0],arr[1],arr[2]);

        n++;

    }

    printf("%d\n", n);

    fclose(fp);



    vtkPolyVertex * polyvertex = vtkPolyVertex::New();

    polyvertex->GetPointIds()->SetNumberOfIds(n);

    int i=0;

    for(i=0;i<n;i++)//建立拓扑关系

    {

        polyvertex->GetPointIds()->SetId(i,i);

    }



    vtkUnstructuredGrid * grid=vtkUnstructuredGrid::New();

    grid->SetPoints(points);

    grid->InsertNextCell(polyvertex->GetCellType(),

            polyvertex->GetPointIds());



    vtkDataSetMapper *map1 = vtkDataSetMapper::New();

    map1->SetInput(grid);



    vtkActor *actor1 = vtkActor::New();

    actor1->SetMapper(map1);

    actor1->GetProperty()->SetColor(0.194,0.562, 0.75);



    ren->AddActor(actor1);

    ren->SetBackground(1, 1, 1);



    vtkRenderWindow* win=vtkRenderWindow::New();

    win->AddRenderer(ren);

    win->SetSize(400,400);

    win->BordersOn();

    //win->FullScreenOn();

    //win->HideCursor();



    vtkRenderWindowInteractor *iren = vtkRenderWindowInteractor::New();



    iren->SetRenderWindow(win);

    vtkInteractorStyleTrackballCamera *style =

        vtkInteractorStyleTrackballCamera::New();

    iren->SetInteractorStyle(style);   



    iren->Start();

    ren->Delete();

    win->Delete();

    iren->Delete();



    return 0;

}

编译命令为



        gcc -o 可执行文件名 源文件名 -I 头文件目录 需要的库文件 -Wno-dprecated:



                       

        gcc -o cloud cloud.cxx -I /usr/include/vtk-5.0 /usr/lib/libvtkRendering.so -Wno-deprecated

                       

               



运行：



        ./cloud venus.asc//数据文件