Just select No when compositing. If there is no statistical normal, the last one in each row of data will be the category.
The point cloud library supports data with labels.
as follows:
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 }