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点云数据归一化、统一化，很重要，比如，你做完一个模型后，发现鼠标控制模型时，根本不是以中心点控制，就是因为数据没有归一化等

pcl::PointCloud<pcl::PointXYZ>::Ptr normialize(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_in, pcl::PointXYZ minPt, pcl::PointXYZ maxPt)
{pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_back(new pcl::PointCloud<pcl::PointXYZ>);cloud_back->width = cloud_in->width;cloud_back->height = cloud_in->height;cloud_back->is_dense = cloud_in->is_dense;cloud_back->resize(cloud_in->size());double middlex, middley, middlez;middlex = (maxPt.x + minPt.x) / 2;middley = (maxPt.y + minPt.y) / 2;middlez = (maxPt.z + minPt.z) / 2;for (int i = 0; i < cloud_back->size(); i++){cloud_back->points[i].x = cloud_in->points[i].x - middlex;cloud_back->points[i].y = cloud_in->points[i].y - middley;cloud_back->points[i].z = cloud_in->points[i].z - middlez;}//scale based on x rangedouble scalecoe = (maxPt.x - minPt.x) / 2;for (int i = 0; i < cloud_back->size(); i++) {cloud_back->points[i].x = cloud_back->points[i].x / scalecoe;cloud_back->points[i].y = cloud_back->points[i].y / scalecoe;cloud_back->points[i].z = cloud_back->points[i].z / scalecoe;}return cloud_back;}

int main()
{pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);pcl::io::loadPLYFile<pcl::PointXYZ>("hand.ply", *cloud);cout << "数据统一化前的最值" << endl;pcl::PointXYZ minPt, maxPt;pcl::getMinMax3D(*cloud, minPt, maxPt);std::cerr << " " << minPt.x << " " << minPt.y << " " << minPt.z << std::endl;std::cerr << " " << maxPt.x << " " << maxPt.y << " " << maxPt.z << std::endl;cout << "数据统一化后的最值" << endl;cloud = normialize(cloud, minPt, maxPt);pcl::getMinMax3D(*cloud, minPt, maxPt);std::cerr << " " << minPt.x << " " << minPt.y << " " << minPt.z << std::endl;std::cerr << " " << maxPt.x << " " << maxPt.y << " " << maxPt.z << std::endl;pcl::io::savePLYFile("Newhand.ply", *cloud);return 0;
}