平面模型分割

在本教程中，将学习如何对一组点进行简单的平面分割，即找到点云中支持平面模型的所有点。

创建planar_segmentation.cpp文件

源码：

 1#include <iostream>
 2#include <pcl/ModelCoefficients.h>
 3#include <pcl/io/pcd_io.h>
 4#include <pcl/point_types.h>
 5#include <pcl/sample_consensus/method_types.h>
 6#include <pcl/sample_consensus/model_types.h>
 7#include <pcl/segmentation/sac_segmentation.h>
 8
 9int
10 main ()
11{
12  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
13
14  // Fill in the cloud data
15  cloud->width  = 15;
16  cloud->height = 1;
17  cloud->points.resize (cloud->width * cloud->height);
18
19  // Generate the data
20  for (auto& point: *cloud)
21  {
22    point.x = 1024 * rand () / (RAND_MAX + 1.0f);
23    point.y = 1024 * rand () / (RAND_MAX + 1.0f);
24    point.z = 1.0;
25  }
26
27  // Set a few outliers
28  (*cloud)[0].z = 2.0;
29  (*cloud)[3].z = -2.0;
30  (*cloud)[6].z = 4.0;
31
32  std::cerr << "Point cloud data: " << cloud->size () << " points" << std::endl;
33  for (const auto& point: *cloud)
34    std::cerr << "    " << point.x << " "
35                        << point.y << " "
36                        << point.z << std::endl;
37
38  pcl::ModelCoefficients::Ptr coefficients (new pcl::ModelCoefficients);
39  pcl::PointIndices::Pt