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Get centroid of point cloud data based on color using kinect v2

I want to get the centroid of point cloud data based on color using kinect v2. Even after searching for a long time I was not able to find a package which can do this task. But since this is a general problem I think there should be a existing package.

Please help.

Get centroid of point cloud data based on color using kinect v2

I want to get the centroid of point cloud data based on color using kinect v2. Even after searching for a long time I was not able to find a package which can do this task. But since this is a general problem I think there should be a existing package.

Please help.