pclPointCloudpclPrincipalCurvaturesPtr principalCurvaturesnew pclPointCloudpclPrincipalCurvatures; pclNormalEstimationpclPointXYZ pclPrincipalCurvatures ne; nesetInputCloudcloudXYZ; nesetSearchMethodp

您可以使用Eigen::Map来将float[3]转换为Eigen::Vector3f。以下是修改后的代码：

pcl::PointCloud<pcl::PrincipalCurvatures>::Ptr principalCurvatures(new pcl::PointCloud<pcl::PrincipalCurvatures>());
pcl::NormalEstimation<pcl::PointXYZ, pcl::PrincipalCurvatures> ne;
ne.setInputCloud(cloudXYZ);
ne.setSearchMethod(pcl::search::KdTree<pcl::PointXYZ>::Ptr(new pcl::search::KdTree<pcl::PointXYZ>()));
ne.compute(*principalCurvatures);

// 获取主方向的角度
Eigen::Vector3f mainDirection = Eigen::Map<Eigen::Vector3f>(principalCurvatures->points[0].principal_curvature);
``