注释代码double inline sqrPointToLineDistance const EigenVector4f &pt const EigenVector4f &line_pt const EigenVector4f &line_dir Calculate the distance from the point to the line D = P2-P1 x P1-

// This function calculates the squared distance from a point to a line in 3D space. // The input parameters are: // - pt: a 4D vector representing the coordinates of the point // - line_pt: a 4D vector representing a point on the line // - line_dir: a 4D vector representing the direction vector of the line

// The function first calculates the cross product of the vectors (line_pt - pt) and (line_dir), and then calculates the norm of the resulting vector. // Next, it calculates the squared norm of the vector (line_dir). // Finally, it divides the squared norm of the cross product by the squared norm of line_dir and returns the result