C#+VTK显示点云

PS：第一次处理点云，记录一下。

基础环境：VS（我用的2019 ，之前用2012离线版报错了）
话不多说，先上效果图：

效果肯定没有CloudCompare好，但是能处理就行了，这个视窗按住鼠标中键是平移，左键拖动是旋转，设计有点反人类

具体实现步骤如下
第一步：
新建一个Win From窗体，用于放置控件。
（这个我就不放图了）
第二步：
通过Nuget包管理工具下载VTK的库

安装完在项目的引用里会多两个DLL

第三步：
当有了这两个DLL后，去工具箱的控件里找renderWindowControl控件，把它拖到winfrom 桌面，再放一个button 按钮，以方便验证程式

最后调用库里的IO类，去读写点文件，并显示出来，源码如下：
private void ReadPlainText()
{
// Path to vtk data must be set as an environment variable
// VTK_DATA_ROOT = “C:VTKvtkdata-5.8.0”
vtkTesting test = vtkTesting.New();
string root = test.GetDataRoot();
//string filePath = System.IO.Path.Combine(root, @“Datateapot.xyz”);
string filePath = System.IO.Path.Combine(@“test2.xyz”);
FileStream fs = null;
StreamReader sr = null;
String sLineBuffer;
String[] sXYZ;
char[] chDelimiter = new char[] { ’ ', ‘t’, ‘;’ };
double[] xyz = new double[3];
vtkPoints points = vtkPoints.New();
int cnt = 0;

        try
        {
            // in case file must be open in another application too use "FileShare.ReadWrite"
            fs = new FileStream(filePath, FileMode.Open, FileAccess.Read, FileShare.ReadWrite);
            sr = new StreamReader(fs);
            while (!sr.EndOfStream)
            {
                sLineBuffer = sr.ReadLine();
                cnt++;
                sXYZ = sLineBuffer.Split(chDelimiter, StringSplitOptions.RemoveEmptyEntries);
                if (sXYZ == null || sXYZ.Length < 3)
                {
                    MessageBox.Show("data seems to be in wrong format at line " + cnt, "Format Exception", MessageBoxButtons.OK);
                    return;
                }
                xyz[0] = double.Parse(sXYZ[0], CultureInfo.InvariantCulture);
                xyz[1] = double.Parse(sXYZ[1], CultureInfo.InvariantCulture);
                xyz[2] = double.Parse(sXYZ[2], CultureInfo.InvariantCulture);
                points.InsertNextPoint(xyz[0], xyz[1], xyz[2]);
            }
            vtkPolyData polydata = vtkPolyData.New();
            polydata.SetPoints(points);
            vtkVertexGlyphFilter glyphFilter = vtkVertexGlyphFilter.New();
            glyphFilter.SetInputConnection(polydata.GetProducerPort());

            // Visualize
            vtkPolyDataMapper mapper = vtkPolyDataMapper.New();
            mapper.SetInputConnection(glyphFilter.GetOutputPort());

            vtkActor actor = vtkActor.New();
            actor.SetMapper(mapper);
            actor.GetProperty().SetPointSize(4);
            actor.GetProperty().SetColor(1, 0.5, 0);
            // get a reference to the renderwindow of our renderWindowControl1
            vtkRenderWindow renderWindow = renderWindowControl1.RenderWindow;
            // renderer
            vtkRenderer renderer = renderWindow.GetRenderers().GetFirstRenderer();
            // set background color
            renderer.SetBackground(0.2, 0.3, 0.4);
            // add our actor to the renderer
            renderer.AddActor(actor);
        }
        catch (IOException ex)
        {
            MessageBox.Show(ex.Message, "IOException", MessageBoxButtons.OK);
        }
        finally
        {
            if (sr != null)
            {
                sr.Close();
                sr.Dispose();
                sr = null;
            }
        }
    }

PS：大家也可以去官方原网站学习，里面也有C#的范例
官方地址：https://kitware.github.io/vtk-examples/site/CSharp/IO/ReadPLY/