#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?


using?namespace?std;
typedef?pcl::PointXYZ?PointType;
typedef?struct?myPointType??
{??
????double?x;??//mm?world?coordinate?x??
????double?y;??//mm?world?coordinate?y??
????double?z;??//mm?world?coordinate?z??
	int?num;???//point?num
};?

//?Get?N?bits?of?the?string?from?back?to?front.
char*?Substrend（char*strint?n）
{
	char?*substr=（char*）malloc（n+1）;
	int?length=strlen（str）;
	if?（n>=length）
	{
		strcpy（substrstr）;
		return?substr;
	}
	int?k=0;
	for?（int?i=length-n;i	{
		substr[k]=str[i];
		k++;
	}
	substr[k]=‘\0‘;
	return?substr;
}

int?main（int?argc?char?**argv）
{
	//?create?point?cloud??
	pcl::PointCloud::Ptr?cloud（new?pcl::PointCloud（））;

	//?load?data
	char*?fileType;
	if?（argc>1）
	{
		fileType?=?Substrend（argv[1]3）;
	}
	if?（!strcmp（fileType“pcd“））
	{
????	//?load?pcd?file
		pcl::io::loadPCDFile（argv[1]?*cloud）;
	}
	else?if（!strcmp（fileType“txt“））
	{
		//?load?txt?data?file	
		int?number_Txt;
		myPointType?txtPoint;?
		vector?points;?
		FILE?*fp_txt;?
		fp_txt?=?fopen（argv[1]?“r“）;??
		if?（fp_txt）??
		{??
		????while?（fscanf（fp_txt?“%lf?%lf?%lf“?&txtPoint.x?&txtPoint.y?&txtPoint.z）?!=?EOF）??
		????{??
		????????points.push_back（txtPoint）;??
		????}??
		}??
		else??
		????std::cout?<		number_Txt?=?points.size（）;??

		cloud->width?=?number_Txt;??
		cloud->height?=?1;?????
		cloud->is_dense?=?false;??
		cloud->points.resize（cloud->width?*?cloud->height）;??
	??
		for?（size_t?i?=?0;?i?points.size（）;?++i）??
		{??
		????cloud->points[i].x?=?points[i].x;??
		????cloud->points[i].y?=?points[i].y;??
		????cloud->points[i].z?=?0;??
		}??
	}
	else?
	{
		std::cout?<		return?0;
	}

	//?start?calculating?time
????pcl::StopWatch?time;

	
????Eigen::Vector4f?pcaCentroid;
????pcl::compute3DCentroid（*cloud?pcaCentroid）;
????Eigen::Matrix3f?covariance;
????pcl::computeCovarianceMatrixNormalized（*cloud?pcaCentroid?covariance）;
????Eigen::SelfAdjointEigenSolver?eigen_solver（covariance?Eigen::ComputeEigenvectors）;
????Eigen::Matrix3f?eigenVectorsPCA?=?eigen_solver.eigenvectors（）;
????Eigen::Vector3f?

?屬性????????????大小?????日期????時(shí)間???名稱(chēng)
-----------?---------??----------?-----??----
?????目錄???????????0??2018-09-21?03:16??Rectangular_Bounding_Box\
?????文件????????6079??2018-09-20?07:41??Rectangular_Bounding_Box\scan.pcd
?????文件????????6789??2018-09-20?07:37??Rectangular_Bounding_Box\scan.txt
?????文件?????2547006??2018-04-03?16:17??Rectangular_Bounding_Box\milk_cartoon_all_small_clorox.pcd
?????文件???????92940??2018-04-03?16:17??Rectangular_Bounding_Box\milk.pcd
?????文件?????????473??2018-09-20?07:04??Rectangular_Bounding_Box\CMakeLists.txt
?????文件???????10344??2018-09-21?03:16??Rectangular_Bounding_Box\rectangular_bounding_box.cpp
?????目錄???????????0??2018-09-21?07:32??Rectangular_Bounding_Box\build\