PCL质心求取算法

emmm第一天学习PCL 可能很多都是用自带的写的加油吧！

---------------------------------------------------------------------------------------------------------------------------------

#include <iostream>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/common/centroid.h> //中心？

int main(int argc, char** argv)
{
 //定义一个点云cloud
 pcl::PointCloud<pcl::PointXYZ> cloud;

 cloud.width = 100;
 cloud.height = 1;
 cloud.points.resize(cloud.width * cloud.height);

 for (size_t i = 0; i < cloud.points.size(); ++i)
 {
  cloud.points[i].x = 1024 * rand() / (RAND_MAX + 1.0f);
  cloud.points[i].y = 1024 * rand() / (RAND_MAX + 1.0f);
  cloud.points[i].z = 1024 * rand() / (RAND_MAX + 1.0f);
 }
 //创建存储点云质心的对象
 Eigen::Vector4f centroid;

 //
 pcl::compute3DCentroid(cloud, centroid);
 std::cout << "点云质心是（"
  << centroid[0] << ","
  << centroid[1] << ","
  << centroid[2] << ")." << std::endl;
 system("pause");
 return 0;
}