• 計算點雲質心,並將其去中心化,即將點雲質心設為座標系原點

 1 #pragma warning(disable:4996)
 2 #include <pcl/registration/ia_ransac.h>//取樣一致性
 3 #include <pcl/point_types.h>
 4 #include <pcl/point_cloud.h>
 5 #include <pcl/features/normal_3d.h>
 6 #include <pcl/features/fpfh.h>
 7 #include <pcl/search/kdtree.h>
 8
 
 #include <pcl/io/pcd_io.h>
 9 #include <pcl/filters/voxel_grid.h>//
10 #include <pcl/filters/filter.h>//
11 #include <pcl/registration/icp.h>//icp配準
12 #include <pcl/visualization/pcl_visualizer.h>//視覺化
13 #include <time.h>//時間
14 #include <math.h>
15 #include <vector>
16
 
 //4計算點雲質心
17     Eigen::Vector4f centroid;
18     pcl::compute3DCentroid(*cloud_src, centroid);
19     std::cout << "濾波前的質心" << centroid[0] << "," << centroid[1] << "," << centroid[2] << "," << endl;
20 
21     //5去中心化
22     for (size_t i = 0; i < cloud_src->points.size(); ++i)
 
23     {
24         cloud_src->points[i].x -= centroid[0];
25         cloud_src->points[i].y -= centroid[1];
26         cloud_src->points[i].z -= centroid[2];
27     }