pcl知识

1.pcl/io/pcd_io.h

pcl/io/ply_io.h

pcl::PLYReader reader;

pcl::PCDWriter pcdwriter;

读取ply pcd

2.void
loadFile(const char* fileName,
     pcl::PointCloud<pcl::PointXYZ> &cloud
)
{
  pcl::PolygonMesh mesh;
 
  if ( pcl::io::loadPolygonFile ( fileName, mesh ) == -1 )
  {
    PCL_ERROR ( "loadFile faild." );
    return;
  }
  else
    pcl::fromPCLPointCloud2<pcl::PointXYZ> ( mesh.cloud, cloud );
 
  // remove points having values of nan
  std::vector<int> index;
  pcl::removeNaNFromPointCloud ( cloud, cloud, index );
}

3. Default number of ICP iterations icp

ICP迭代的默认次数

4.#include <pcl/io/ply_io.h>

string outPLY("test.ply");
              pcl::io::savePLYFile(outPLY,*cloud_filtered);

5.https://en.wikipedia.org/wiki/Rotation_matrix