《PCL》点云的最小外包围盒实现

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/common/common.h>
int main(int argc, char** argv)
{
 //定义一个点云cloud
 //pcl::PointCloud<pcl::PointXYZ> cloud;
 pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
 if (pcl::io::loadPCDFile<pcl::PointXYZ>("E:\\abx.pcd", *cloud) == -1)
 {
  std::cout << "读取失败";
 }
 //定义储存极值的两个点
 pcl::PointXYZ minPoint, maxPoint;
 pcl::getMinMax3D(*cloud,minPoint, maxPoint);
 //输出结果
 std::cout << "max:x" << maxPoint.x << std::endl;
 std::cout << "max:y" << maxPoint.y << std::endl;
 std::cout << "max:z" << maxPoint.z << std::endl;
 std::cout << "min:x" << minPoint.x << std::endl;
 std::cout << "min:y" << minPoint.y << std::endl;
 std::cout << "min:z" << minPoint.z << std::endl;
 
 system("pause");
 return 0;
}