WIP-ADD: GetCenterPoint() to point cloud objects

Author: DamienGilliard

CMakeLists.txt

@@ -93,6 +93,8 @@ target_include_directories(${SHARED_LIB_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
 # CGAL (header-only) ------------------------------------------------------
 target_include_directories(${SHARED_LIB_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/deps/cgal/include)
 
+# Cilantro (header-only) --------------------------------------------------
+target_include_directories(${SHARED_LIB_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/deps/cilantro/include)
 # loguru (header-only) ----------------------------------------------------
 download_submodule_project(loguru)
 add_subdirectory(deps/loguru)

src/diffCheck/geometry/DFPointCloud.cc

@@ -125,4 +125,15 @@ namespace diffCheck::geometry
         this->Colors = cloud->Colors;
         this->Normals = cloud->Normals;
     }
+
+    Eigen::Vector3d DFPointCloud::GetCenterPoint()
+    {
+        if (this->Points.size() == 0)
+            throw std::invalid_argument("The point cloud is empty.");
+        Eigen::Vector3d center = Eigen::Vector3d::Zero();
+        for (auto &point : this->Points)
+            center += point;
+        center /= this->Points.size();
+        return center;
+    }
 }

src/diffCheck/geometry/DFPointCloud.hh

@@ -103,6 +103,8 @@ namespace diffCheck::geometry
         int GetNumColors() const { return this->Colors.size(); }
         /// @brief Number of normals in the point cloud
         int GetNumNormals() const { return this->Normals.size(); }
+        /// @brief Get the center point of the point cloud
+        Eigen::Vector3d GetCenterPoint();
 
         /// @brief Check if the cloud has points
         bool HasPoints() const { return this->Points.size() > 0; }