C++ PCL库计算点云到直线距离代码示例

#include <pcl/io/ply_io.h> #include <pcl/point_types.h> #include <pcl/common/distances.h> #include int main() { // 直线的系数 float a = 1.0; float b = 2.0; float c = -1.0; float d = 2.0; // 加载点云 pcl::PointCloudpcl::PointXYZ::Ptr cloud(new pcl::PointCloudpcl::PointXYZ); pcl::io::loadPLYFilepcl::PointXYZ("input.ply", *cloud); // 计算每个点到直线的距离 for (const auto& point : cloud->points) { float distance = pcl::pointToLineDistancepcl::PointXYZ(point, a, b, c, d); std::cout << "Distance to line: " << distance << std::endl; } return 0; }