C++代码示例：使用PCL库计算点云PLY文件的OBB包围盒

以下是基于PCL库计算点云PLY文件的OBB包围盒的C++代码示例：\n\ncpp\n#include <iostream>\n#include <pcl/io/ply_io.h>\n#include <pcl/point_types.h>\n#include <pcl/features/moment_of_inertia_estimation.h>\n\nint main(int argc, char** argv)\n{\n // 加载点云文件\n pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>());\n if (pcl::io::loadPLYFile<pcl::PointXYZ>("input.ply", *cloud) == -1)\n {\n PCL_ERROR("Couldn't read file input.ply\n");\n return -1;\n }\n\n // 计算obb包围盒\n pcl::MomentOfInertiaEstimation<pcl::PointXYZ> feature_extractor;\n feature_extractor.setInputCloud(cloud);\n feature_extractor.compute();\n\n // 获取obb包围盒的中心点、尺寸和旋转矩阵\n pcl::PointXYZ min_point, max_point, obb_center;\n Eigen::Matrix3f obb_rotation;\n feature_extractor.getOBB(min_point, max_point, obb_center, obb_rotation);\n\n // 输出obb包围盒的信息\n std::cout << "OBB Center: " << obb_center.x << ", " << obb_center.y << ", " << obb_center.z << std::endl;\n std::cout << "OBB Size: " << max_point.x - min_point.x << ", " << max_point.y - min_point.y << ", " << max_point.z - min_point.z << std::endl;\n std::cout << "OBB Rotation Matrix:" << std::endl << obb_rotation << std::endl;\n\n return 0;\n}\n\n\n请确保已安装并正确配置了pcl库，并将input.ply替换为你自己的点云ply文件路径。代码使用了MomentOfInertiaEstimation类来计算obb包围盒，并获取了obb包围盒的中心点、尺寸和旋转矩阵，并将其输出到控制台。