合成的时候选择否就行了，如果没有统计法线，每一行数据最后那个就是类别。
点云库支持数据带label，
如下：
不多BB，合成的时候选择否就行了，如果没有统计法线，每一行数据最后那个就是类别。
点云库支持数据带label，
如下：
1 namespace pcl
2 {
3 /** \brief Members: float x, y, z
4 * \ingroup common
5 */
6 struct PointXYZ;
7
8 /** \brief Members: rgba
9 * \ingroup common
10 */
11 struct RGB;
12
13 /** \brief Members: intensity (float)
14 * \ingroup common
15 */
16 struct Intensity;
17
18 /** \brief Members: intensity (uint8_t)
19 * \ingroup common
20 */
21 struct Intensity8u;
22
23 /** \brief Members: intensity (uint32_t)
24 * \ingroup common
25 */
26 struct Intensity32u;
27
28 /** \brief Members: float x, y, z, intensity
29 * \ingroup common
30 */
31 struct PointXYZI;
32
33 /** \brief Members: float x, y, z, uin32_t label
34 * \ingroup common
35 */
36 struct PointXYZL;
37
38 /** \brief Members: uint32_t label
39 * \ingroup common
40 */
41 struct Label;
42
43 /** \brief Members: float x, y, z; uint32_t rgba
44 * \ingroup common
45 */
46 struct PointXYZRGBA;
47
48 /** \brief Members: float x, y, z, rgb
49 * \ingroup common
50 */
51 struct PointXYZRGB;
52
53 /** \brief Members: float x, y, z, rgb, uint32_t label
54 * \ingroup common
55 */
56 struct PointXYZRGBL;
57
58 /** \brief Members: float x, y, z, h, s, v
59 * \ingroup common
60 */
61 struct PointXYZHSV;
62
63 /** \brief Members: float x, y
64 * \ingroup common
65 */
66 struct PointXY;
67
68 /** \brief Members: float u, v
69 * \ingroup common
70 */
71 struct PointUV;
72
73 /** \brief Members: float x, y, z, strength
74 * \ingroup common
75 */
76 struct InterestPoint;
77
78 /** \brief Members: float normal[3], curvature
79 * \ingroup common
80 */
81 struct Normal;
82
83 /** \brief Members: float normal[3]
84 * \ingroup common
85 */
86 struct Axis;
87
88 /** \brief Members: float x, y, z; float normal[3], curvature
89 * \ingroup common
90 */
91 struct PointNormal;
92
93 /** \brief Members: float x, y, z, rgb, normal[3], curvature
94 * \ingroup common
95 */
96 struct PointXYZRGBNormal;
97
98 /** \brief Members: float x, y, z, intensity, normal[3], curvature
99 * \ingroup common
100 */
101 struct PointXYZINormal;
102
103 /** \brief Members: float x, y, z, label, normal[3], curvature
104 * \ingroup common
105 */
106 struct PointXYZLNormal;
107
108 /** \brief Members: float x, y, z (union with float point[4]), range
109 * \ingroup common
110 */
111 struct PointWithRange;
112
113 /** \brief Members: float x, y, z, vp_x, vp_y, vp_z
114 * \ingroup common
115 */
116 struct PointWithViewpoint;
117
118 /** \brief Members: float j1, j2, j3
119 * \ingroup common
120 */
121 struct MomentInvariants;
122
123 /** \brief Members: float r_min, r_max
124 * \ingroup common
125 */
126 struct PrincipalRadiiRSD;
127
128 /** \brief Members: uint8_t boundary_point
129 * \ingroup common
130 */
131 struct Boundary;
132
133 /** \brief Members: float principal_curvature[3], pc1, pc2
134 * \ingroup common
135 */
136 struct PrincipalCurvatures;
137
138 /** \brief Members: float descriptor[352], rf[9]
139 * \ingroup common
140 */
141 struct SHOT352;
142
143 /** \brief Members: float descriptor[1344], rf[9]
144 * \ingroup common
145 */
146 struct SHOT1344;
147
148 /** \brief Members: Axis x_axis, y_axis, z_axis
149 * \ingroup common
150 */
151 struct ReferenceFrame;
152
153 /** \brief Members: float descriptor[1980], rf[9]
154 * \ingroup common
155 */
156 struct ShapeContext1980;
157
158 /** \brief Members: float descriptor[1960], rf[9]
159 * \ingroup common
160 */
161 struct UniqueShapeContext1960;
162
163 /** \brief Members: float pfh[125]
164 * \ingroup common
165 */
166 struct PFHSignature125;
167
168 /** \brief Members: float pfhrgb[250]
169 * \ingroup common
170 */
171 struct PFHRGBSignature250;
172
173 /** \brief Members: float f1, f2, f3, f4, alpha_m
174 * \ingroup common
175 */
176 struct PPFSignature;
177
178 /** \brief Members: float f1, f2, f3, f4, f5, f6, f7, f8, f9, f10, alpha_m
179 * \ingroup common
180 */
181 struct CPPFSignature;
182
183 /** \brief Members: float f1, f2, f3, f4, r_ratio, g_ratio, b_ratio, alpha_m
184 * \ingroup common
185 */
186 struct PPFRGBSignature;
187
188 /** \brief Members: float values[12]
189 * \ingroup common
190 */
191 struct NormalBasedSignature12;
192
193 /** \brief Members: float fpfh[33]
194 * \ingroup common
195 */
196 struct FPFHSignature33;
197
198 /** \brief Members: float vfh[308]
199 * \ingroup common
200 */
201 struct VFHSignature308;
202
203 /** \brief Members: float grsd[21]
204 * \ingroup common
205 */
206 struct GRSDSignature21;
207
208 /** \brief Members: float esf[640]
209 * \ingroup common
210 */
211 struct ESFSignature640;
212
213 /** \brief Members: float histogram[16]
214 * \ingroup common
215 */
216 struct GFPFHSignature16;
217
218 /** \brief Members: float scale; float orientation; uint8_t descriptor[64]
219 * \ingroup common
220 */
221 struct BRISKSignature512;
222
223 /** \brief Members: float x, y, z, roll, pitch, yaw; float descriptor[36]
224 * \ingroup common
225 */
226 struct Narf36;
227
228 /** \brief Data type to store extended information about a transition from foreground to backgroundSpecification of the fields for BorderDescription::traits.
229 * \ingroup common
230 */
231 typedef std::bitset<32> BorderTraits;
232
233 /** \brief Specification of the fields for BorderDescription::traits.
234 * \ingroup common
235 */
236 enum BorderTrait
237 {
238 BORDER_TRAIT__OBSTACLE_BORDER, BORDER_TRAIT__SHADOW_BORDER, BORDER_TRAIT__VEIL_POINT,
239 BORDER_TRAIT__SHADOW_BORDER_TOP, BORDER_TRAIT__SHADOW_BORDER_RIGHT, BORDER_TRAIT__SHADOW_BORDER_BOTTOM,
240 BORDER_TRAIT__SHADOW_BORDER_LEFT, BORDER_TRAIT__OBSTACLE_BORDER_TOP, BORDER_TRAIT__OBSTACLE_BORDER_RIGHT,
241 BORDER_TRAIT__OBSTACLE_BORDER_BOTTOM, BORDER_TRAIT__OBSTACLE_BORDER_LEFT, BORDER_TRAIT__VEIL_POINT_TOP,
242 BORDER_TRAIT__VEIL_POINT_RIGHT, BORDER_TRAIT__VEIL_POINT_BOTTOM, BORDER_TRAIT__VEIL_POINT_LEFT
243 };
244
245 /** \brief Members: int x, y; BorderTraits traits
246 * \ingroup common
247 */
248 struct BorderDescription;
249
250 /** \brief Members: float gradient[3]
251 * \ingroup common
252 */
253 struct IntensityGradient;
254
255 /** \brief Members: float histogram[N]
256 * \ingroup common
257 */
258 template<int N>
259 struct Histogram;
260
261 /** \brief Members: float x, y, z, scale, angle, response, octave
262 * \ingroup common
263 */
264 struct PointWithScale;
265
266 /** \brief Members: float x, y, z, normal[3], rgba, radius, confidence, curvature
267 * \ingroup common
268 */
269 struct PointSurfel;
270
271 /** \brief Members: float x, y, z, intensity, intensity_variance, height_variance
272 * \ingroup common
273 */
274 struct PointDEM;
275 }