显示PCL点云数据

代码语言：xml复制

<Window x:Class="FirstSolver.MainWindow"
        xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
        xmlns:materialDesign="http://materialdesigninxaml.net/winfx/xaml/themes"
        xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
        xmlns:vtk="clr-namespace:Kitware.VTK;assembly=Kitware.VTK"
        TextElement.Foreground="{DynamicResource MaterialDesignBody}"
        TextElement.FontWeight="Regular"
        TextElement.FontSize="16"
        TextOptions.TextFormattingMode="Ideal" 
        TextOptions.TextRenderingMode="ClearType"       
        Background="{DynamicResource MaterialDesignPaper}"
        FontFamily="Microsoft YaHei Light"
        Name="RootWindow" Title="PCL点云数据" WindowState="Maximized" WindowStartupLocation="CenterScreen">
    <materialDesign:DialogHost Identifier="RootDialog" DialogTheme="Inherit">
        <Grid>
            <Grid.RowDefinitions>
                <RowDefinition Height="Auto"/>
                <RowDefinition/>
            </Grid.RowDefinitions>

            <Grid Grid.Row="0">
                <Grid.ColumnDefinitions>
                    <ColumnDefinition/>
                    <ColumnDefinition Width="Auto"/>
                    <ColumnDefinition Width="Auto"/>
                </Grid.ColumnDefinitions>

                <TextBox Grid.Column="0" Style="{StaticResource MaterialDesignFilledTextBox}" materialDesign:HintAssist.Hint="点云数据文件" Name="TextBoxPclPath" IsReadOnly="True"/>
                <Button Grid.Column="1" Margin="4" Style="{StaticResource MaterialDesignIconButton}" Click="ButtonSelectFile">
                    <Button.Content>
                        <materialDesign:PackIcon Kind="FolderOpenOutline"/>
                    </Button.Content>
                </Button>
                <Button Grid.Column="2" Margin="4" Style="{StaticResource MaterialDesignIconButton}" Click="ButtonShowPcl">
                    <Button.Content>
                        <materialDesign:PackIcon Kind="HumanRunFast"/>
                    </Button.Content>
                </Button>
            </Grid>

            <WindowsFormsHost Grid.Row="1">
                <vtk:RenderWindowControl x:Name="VtkFormControl1"/>
            </WindowsFormsHost>
        </Grid>
    </materialDesign:DialogHost>
</Window>

代码语言：cs复制

using Kitware.VTK;
using System;
using System.IO;
using System.Linq;
using System.Text;
using System.Windows;

namespace FirstSolver
{
    public partial class MainWindow : Window
    {
        /// <summary>
        /// 对话框宿主标识符
        /// </summary>
        public const string DialogHostIdentifier = "RootDialog";

        public MainWindow()
        {
            InitializeComponent();
        }

        private void ButtonSelectFile(object sender, RoutedEventArgs e)
        {
            Microsoft.Win32.OpenFileDialog dlg = new Microsoft.Win32.OpenFileDialog()
            {
                Filter = "PCD|*.pcd",
                DereferenceLinks = true
            };

            if (dlg.ShowDialog() == true)
            {
                TextBoxPclPath.Text = dlg.FileName;
            }
        }

        private void ButtonShowPcl(object sender, RoutedEventArgs e)
        {
            try
            {
                string path = TextBoxPclPath.Text;
                if (!File.Exists(path)) return;

                vtkPoints points = ReadPcd(path);
                vtkPolyVertex polyVertex = vtkPolyVertex.New(); // 多顶点

                long number = points.GetNumberOfPoints();
                polyVertex.GetPointIds().SetNumberOfIds(number);
                for (long i = 0; i < number; i  )
                {
                    polyVertex.GetPointIds().SetId(i, i);
                }
                vtkUnstructuredGrid grid = vtkUnstructuredGrid.New(); // 网格
                grid.SetPoints(points);
                grid.InsertNextCell(polyVertex.GetCellType(), polyVertex.GetPointIds());
                vtkDataSetMapper mapper = vtkDataSetMapper.New();
                mapper.SetInputData(grid);

                // 演员
                vtkActor actor = vtkActor.New();
                actor.SetMapper(mapper);
                actor.GetProperty().SetColor(1, 0, 0);

                // WinForm控件
                vtkRenderWindow renderWindow = VtkFormControl1.RenderWindow;
                vtkRenderer renderer = renderWindow.GetRenderers().GetFirstRenderer();
                renderer.RemoveAllViewProps();

                renderer.AddActor(actor);
                renderer.SetBackground(0, 0, 0);
                renderer.ResetCamera();
                renderWindow.Render();
            }
            catch (Exception exception)
            {
                MessageBox.Show(exception.Message, "异常", MessageBoxButton.OK, MessageBoxImage.Error);
            }
        }

        private vtkPoints ReadPcd(string pcd)
        {
            vtkPoints points = vtkPoints.New();
            using (StreamReader sr = new StreamReader(pcd, Encoding.ASCII))
            {
                for (int i = 0; i < 11; i  ) sr.ReadLine();

                for (int i = 0; !sr.EndOfStream; i  )
                {
                    double[] point = sr.ReadLine().Split(new char[] { ' ' }, System.StringSplitOptions.RemoveEmptyEntries).Select(x => double.Parse(x)).ToArray();
                    points.InsertNextPoint(point[0], point[1], point[2]);
                }
            }
            return points;
        }
    }
}

ism_train_michael.pcd

vtk

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