cloudCompare教程：【番外篇-地图标注】

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
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 }