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 range
	double 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;
}