PCL循环分割多个平面

#include <iostream>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/pcl_visualizer.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/filters/approximate_voxel_grid.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/common/transforms.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/search/kdtree.h>
#include <pcl/segmentation/extract_clusters.h>

using namespace std;
int main()
{
	//读取pcd文件
	string pcdPath = "d://PCD//11.pcd";
	pcl::PointCloud<pcl::PointXYZ>::Ptr pingyi(new pcl::PointCloud<pcl::PointXYZ>);
	pcl::PCDWriter writer;
	if (pcl::io::loadPCDFile(pcdPath.c_str(), *pingyi) < 0)
	{
		cout << "load PCD failure" << endl;
	}

	pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients);
	pcl::PointIndices::Ptr inliners(new pcl::PointIndices);

	pcl::SACSegmentation<pcl::PointXYZ> sac;
	sac.setOptimizeCoefficients(true);
	sac.setModelType(pcl::SACMODEL_PLANE);
	sac.setMethodType(pcl::SAC_RANSAC);
	sac.setDistanceThreshold(0.1);
	sac.setMaxIterations(500);
	int i = 0, nr_points = (int)pingyi->points.size();
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloudPlane(new pcl::PointCloud<pcl::PointXYZ>), cloudT(new pcl::PointCloud<pcl::PointXYZ>);
	while (pingyi->points.size() > 0.1 * nr_points)
	{
		sac.setInputCloud(pingyi);
		sac.segment(*inliners, *coefficients);
		if (inliners->indices.size() == 0)
		{
			cout << "could not remove " << endl;
			break;
		}

		pcl::ExtractIndices<pcl::PointXYZ> extract;
		extract.setInputCloud(pingyi);
		extract.setIndices(inliners);
		extract.setNegative(false);
		extract.filter(*cloudPlane);


		extract.setNegative(true);
		extract.filter(*cloudT);
		cout<<cloudPlane->size()<<endl;
		writer.write<pcl::PointXYZ>("d://PCD" + to_string(i) + ".pcd", *cloudPlane, false);
		writer.write<pcl::PointXYZ>("d://PCD" + to_string(i) + ".pcd", *cloudT, false);
		i++;
		*pingyi = *cloudT;
	}
	return 0;
}