PCL1.8.1 质心与协方差矩阵

 

#include <pcl/point_types.h>
#include <pcl/io/ply_io.h>
#include <pcl/common/centroid.h>


int main()
{
	pcl::PointCloud<pcl::PointXYZ> cloud;

	pcl::io::loadPLYFile("cube.ply", cloud);

	// Placeholder for the 3x3 covariance matrix at each surface patch  协方差矩阵
	Eigen::Matrix3f covariance_matrix;
	// 16-bytes aligned placeholder for the XYZ centroid of a surface patch
	Eigen::Vector4f xyz_centroid;

	// Estimate the XYZ centroid 质心  
	pcl::compute3DCentroid(cloud, xyz_centroid);

	// Compute the 3x3 covariance matrix
	pcl::computeCovarianceMatrix(cloud, xyz_centroid, covariance_matrix);
	std::cout << xyz_centroid << std::endl;
	std::cout << covariance_matrix << std::endl;

}

 

来源：https://my.oschina.net/u/4228078/blog/3134601