代码实现
#include
#include
#include
#include
#include
#include
#include
#include
using namespace std;
using namespace Eigen;
/* 最小二乘法拟合平面:Ax + By + Cz + D = 0 */
/* Parameters:返回参数A B C D */
/* point:存放输入点 */
bool FitPlaneByLeastSquares(pcl::PointCloud<:pointxyz>&point,vector<double>& Parameters){
Parameters.clear();
int count = point.size();
if (count 3)
{
return false;
}
double meanX = 0, meanY = 0, meanZ = 0;
double meanXX = 0, meanYY = 0, meanZZ = 0;
double meanXY = 0, meanXZ = 0, meanYZ = 0;
for (int i =