emmm第一天学习PCL 可能很多都是用自带的写的加油吧!
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#include <iostream>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/common/centroid.h> //中心?
#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;
{
//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);
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;
{
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;
}
pcl::compute3DCentroid(cloud, centroid);
std::cout << "点云质心是("
<< centroid[0] << ","
<< centroid[1] << ","
<< centroid[2] << ")." << std::endl;
system("pause");
return 0;
}