I am trying to compute the centroid of a cluster extracted from a planar surface with respect to kinect.
After computing the indices of the cluster, and extracting the clustered point cloud, I computer the centroid using Compute3DCentroid.
I am trying to estimate the position of the centroid with respect to kinect, I dont think compute3Dcentroid of the cluster will give me the clusters position wrt kinect. Am I wrong in saying this or I am missing something.
I am trying to understand the values which I am getting now.
Re: Centroid of a cluster with respect to Kinect ?
The return value of pcl::compute3DCentroid() is in the same coordinate frame as the supplied point cloud. Therefore if your clusters points are in Kinects frame (which is obviously the case), then the computed centroid is also in Kinects frame.