PCL学习之路目录以及学习时使用的教程

教程链接http://robotica.unileon.es/index.php/PCL/OpenNI_tutorial_0:_The_very_basics

当时就是按照这份教程把PCL系统的学了一遍，熟悉里面的库函数，花了点时间，博客里面的有自己的理解。希望能帮到大家，其实主要也是给自己可以更加熟悉罢了。。。 每一个目录下都放一个超链接，这里只是目录，作为系统学习PCL方便大家（我）查找。

PCL/tutorial 0: The very basics 基础知识

PCL/tutorial 1: Installing and testing 安装和测试

PCL/tutorial 2: Cloud processing (basic) 点云处理基础

1 Point clouds

1.1 PCD files

1.1.1 Reading from file 读取点云文件

读取点云文件 https://blog.csdn.net/qq_34792438/article/details/106577962

1.1.2 Writing to file 点云写进PCD文件

点云写进PCD文件 https://blog.csdn.net/qq_34792438/article/details/106583528

1.2 Visualization 点云可视化

点云可视化 https://blog.csdn.net/qq_34792438/article/details/106584340

1.3 Concatenating two clouds 连接两幅点云

连接两幅点云 https://blog.csdn.net/qq_34792438/article/details/106584648

1.4 Matrix transformations 点云旋转平移

点云旋转平移 https://blog.csdn.net/qq_34792438/article/details/106643076

1.5 Using indices

1.6 Removing NaNs 去除点云无效点

去除点云无效点 https://blog.csdn.net/qq_34792438/article/details/106648279

1.7 Saving a PNG 点云保存PNG

点云保存PNG https://blog.csdn.net/qq_34792438/article/details/106659456

1.8 Computing the centroid 计算点云质心

计算点云质心 https://blog.csdn.net/qq_34792438/article/details/106664405

2 Feature estimation

2.1 Normal estimation 建立法线

计算点云法线 https://blog.csdn.net/qq_34792438/article/details/106732010

2.1.1 Integral images 积分图像

计算点云积分图像 https://editor.csdn.net/md/?articleId=107299053

3 Decomposition

3.1 k-d tree

3.1.1 Searching

3.2 Octree

3.2.1 Searching

3.2.2 Compressing/Decompressing

3.2.3 Detecting changes

4 Filtering

4.1 Passthrough filter

4.2 Conditional removal

4.3 Outlier removal

4.3.1 Radius-based

基于半径的滤波：https://blog.csdn.net/qq_34792438/article/details/107603882

4.3.2 Statistical

4.4 Resampling

4.4.1 Downsampling

4.4.1.1 Voxel grid

4.4.1.2 Uniform sampling

4.4.2 Upsampling

5 Reconstruction

5.1 Surface smoothing

PCL/tutorial 3: Cloud processing (advanced) 点云处理高级

1 Regi