ros/pcl 点云分割——分离地面

代码 

#include <ros/ros.h>
// PCL specific includes
#include <sensor_msgs/PointCloud2.h>
#include <pcl_conversions/pcl_conversions.h>
#include <pcl/ros/conversions.h>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
//关于平面分割的头文件
#include <pcl/sample_consensus/model_types.h>   
#include <pcl/sample_consensus/method_types.h>   
#include <pcl/segmentation/sac_segmentation.h>  

#include <iostream>
#include <pcl/ModelCoefficients.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/sample_consensus/method_types.h>
#include <pcl/sample_consensus/model_types.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/filters/extract_indices.h>



ros::Publisher pub;

void
cloud_cb (const sensor_msgs::PointCloud2ConstPtr& input)
{
  // 将点云格式为sensor_msgs/PointCloud2 格式转为 pcl/Poin