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