pcl 求xyz均值代替重心

重心一般有可能在点云外
这里发个求点云中心的。

vector<double> xyz_means(pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud)
{


	double mean_x, mean_y, mean_z;	//点云均值
	double stddev_x, stddev_y, stddev_z;	//点云标准差
	vector<float> vec_x, vec_y, vec_z;
	for (size_t i = 0; i < cloud->points.size(); i++)
	{
		vec_x.push_back(cloud->points[i].x);
		vec_y.push_back(cloud->points[i].y);
		vec_z.push_back(cloud->points[i].z);
	}



	pcl::getMeanStd(vec_x, mean_x, stddev_x);
	pcl::getMeanStd(vec_y, mean_y, stddev_y);
	pcl::getMeanStd(vec_z, mean_z, stddev_z);
	//cout << "\n->点云X坐标的均值为：" << endl;
	//cout << mean_x << endl;



	vector<double> xyz_mean;
	xyz_mean.push_back(vec_x);

	cout << "\n->点云X坐标的标准差为：" << endl;
	//cout << stddev << endl;


	
}