/*
計(jì)算點(diǎn)云重心

?點(diǎn)云的重心是一個(gè)點(diǎn)坐標(biāo)，計(jì)算出云中所有點(diǎn)的平均值。
你可以說它是“質(zhì)量中心”，它對(duì)于某些算法有多種用途。
如果你想計(jì)算一個(gè)聚集的物體的實(shí)際重心，
記住，傳感器沒有檢索到從相機(jī)中相反的一面，
就像被前面板遮擋的背面，或者里面的。
只有面對(duì)相機(jī)表面的一部分。

*/
#include?
#include?
#include?
#include?

int
main（int?argc?char**?argv）
{
????//?創(chuàng)建點(diǎn)云的對(duì)象
????pcl::PointCloud::Ptr?cloud_ptr（new?pcl::PointCloud）;

?????
????//?讀取點(diǎn)云
????if?（pcl::io::loadPCDFile（“../../Filtering/table_scene_lms400.pcd“?*cloud_ptr）?!=?0）
????{
????????return?-1;
????}

//?3D點(diǎn)云顯示
??pcl::visualization::PCLVisualizer?viewer?（“3D?Viewer“）;
??viewer.setBackgroundColor?（1?1?1）;//背景顏色　白色
??pcl::visualization::PointCloudColorHandlerCustom?color_handler（cloud_ptr?1.0?1.0?1.0）;
??viewer.addPoi

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-04-09?13:54??pcl_learn\
?????目錄???????????0??2018-04-08?12:21??pcl_learn\Registration\
?????文件??????964377??2018-04-08?07:54??pcl_learn\Registration\capture0002.pcd
?????文件???????????0??2018-04-08?08:39??pcl_learn\Registration\無標(biāo)題文檔~
?????文件????????6848??2018-04-08?06:44??pcl_learn\Registration\iterative_closest_point.cpp
?????文件??????128513??2018-04-08?09:34??pcl_learn\Registration\obj.pcd
?????文件????????5473??2018-04-08?09:15??pcl_learn\Registration\rabbit.ply
?????文件????????6220??2018-04-08?11:51??pcl_learn\Registration\normal_distributions_transform.cpp
?????文件????????6477??2018-04-08?12:20??pcl_learn\Registration\alignment_prerejective.cpp~
?????文件????????9483??2018-04-08?09:01??pcl_learn\Registration\interactive_icp.cpp
?????文件????????6485??2018-04-08?12:21??pcl_learn\Registration\alignment_prerejective.cpp
?????文件??????972688??2018-04-08?07:54??pcl_learn\Registration\capture0001.pcd
?????文件??????978555??2018-04-08?07:54??pcl_learn\Registration\capture0003.pcd
?????文件?????????391??2015-12-18?15:02??pcl_learn\Registration\box.ply
?????文件????????1383??2018-04-08?12:16??pcl_learn\Registration\CMakeLists.txt~
?????文件???????15030??2018-04-08?07:56??pcl_learn\Registration\pairwise_incremental_registration.cpp~
?????文件????????6221??2018-04-08?09:24??pcl_learn\Registration\normal_distributions_transform.cpp~
?????文件??????996256??2018-04-08?07:54??pcl_learn\Registration\capture0004.pcd
?????文件???????15030??2018-04-08?08:08??pcl_learn\Registration\pairwise_incremental_registration.cpp
?????文件?????1001477??2018-04-08?07:55??pcl_learn\Registration\capture0005.pcd
?????文件????????9453??2018-04-08?09:01??pcl_learn\Registration\interactive_icp.cpp~
?????文件?????3531605??2018-04-08?09:34??pcl_learn\Registration\scene.pcd
?????文件??????603904??2018-04-08?08:38??pcl_learn\Registration\room_scan1.pcd
?????目錄???????????0??2018-04-08?12:21??pcl_learn\Registration\build\
?????文件?????5999032??2018-04-08?07:58??pcl_learn\Registration\build\1.pcd
?????文件????????1679??2018-04-08?06:22??pcl_learn\Registration\build\cmake_install.cmake
?????文件?????3577049??2018-04-08?08:50??pcl_learn\Registration\build\room_scan2_transformed.pcd
?????文件???????11587??2018-04-08?12:17??pcl_learn\Registration\build\Makefile
?????文件?????5878696??2018-04-08?07:59??pcl_learn\Registration\build\4.pcd
?????目錄???????????0??2018-04-08?12:21??pcl_learn\Registration\build\CMakeFiles\
?????文件????????9377??2018-04-08?12:17??pcl_learn\Registration\build\CMakeFiles\Makefile2
............此處省略1237個(gè)文件信息