将PCD点云批量中心化

将PCD点云批量中心化

代码功能：将文件夹下的.pcd文件批量中心化。

#include <pcl/io/io.h>
#include <pcl/io/pcd_io.h>
#include <pcl/io/obj_io.h>
#include <pcl/PolygonMesh.h>
#include <pcl/point_cloud.h>
#include <pcl/kdtree/kdtree_flann.h>
#include <pcl/common/common.h>
#include <pcl/io/vtk_lib_io.h>

using namespace pcl;
using namespace pcl;
using namespace pcl::io;
using namespace pcl::console;
using namespace std;

void getFiles(string path, vector<string>& files)
{
	//文件句柄  
	long   hFile = 0;
	//文件信息  
	struct _finddata_t fileinfo;
	string p;
	if ((hFile = _findfirst(p.assign(path).append("\\*").c_str(), &fileinfo)) != -1)
	{
		do
		{
			//如果是目录,迭代之  
			//如果不是,加入列表  
			if ((fileinfo.attrib &  _A_SUBDIR))
			{
				if (strcmp(fileinfo.name, ".") != 0 && strcmp(fileinfo.name, "..") != 0)
					getFiles(p.assign(path).append("\\").append(fileinfo.name), files);
			}
			else
			{
				files.push_back(p.assign(path).append("\\").append(fileinfo.name));
			}
		} while (_findnext(hFile, &fileinfo) == 0);
		_findclose(hFile);
	}
}


int main()
{
	vector<string> files;
	char * filePath = "G:\\plant_model_data\\PCD";
	////获取该路径下的所有文件  
	getFiles(filePath, files);
	char str[30];
	int size = files.size();
	for (int i = 0; i < size; i++)
	{
		cout << i << "/" << size << endl;
		cout << "load file from:" << files[i].c_str() << endl;
		pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
		//pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_filtered_1(new pcl::PointCloud<pcl::PointXYZRGBA>);
		//string path = files[i].c_str;
		pcl::io::loadPCDFile(files[i], *cloud);

		pcl::PointXYZ min;//用于存放三个轴的最小值
		pcl::PointXYZ max;//用于存放三个轴的最大值
		pcl::getMinMax3D(*cloud, min, max);

		double centre_x = (min.x + max.x) / 2;
		double centre_y = (min.y + max.y) / 2; 
		double centre_z = (min.z + max.z) / 2;

		for (int i = 0; i < cloud->size(); i++)
		{
			cloud->points[i].x = cloud->points[i].x - centre_x;
			cloud->points[i].y = cloud->points[i].y - centre_y;
			cloud->points[i].z = cloud->points[i].z - centre_z;
		}

		string file_type = "_centre.pcd";
		string save_path = files[i].substr(0, files[i].rfind(".")) + file_type;
		cout << "Save file in: " << save_path << endl;
		pcl::io::savePCDFileASCII(save_path, *cloud);
	}
	return 0;
}