pcl181欧式聚类分割结果不对，求助帖！！

目标：分割出地板，以及地板以上的不同物体，对物体进行运动检测

欧式聚类的目标，分割出椅子，桌子，圆凳等物体

聚类失败，聚类的结果是一条一条线，是怎么回事，下采样参数10，聚类最小距离15

原点云：

分割出的点云:

//    std::vector<int> nanIndex;
//    pcl::removeNaNFromPointCloud(*cloud,*cloud,nanIndex);




    // 创建体素网格滤波器对象
    // 应用滤波器，进行下采样
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_downsampled(new pcl::PointCloud<pcl::PointXYZRGB>);
    pcl::VoxelGrid<pcl::PointXYZRGB> vg;
    vg.setInputCloud(cloud);
    vg.setLeafSize(10.0f, 10.0f, 10.0f);  // 设置体素网格的大小
    vg.filter(*cloud_downsampled);

    qDebug()<<"cloud_downsampled size"<<cloud_downsampled->size();


    //  统计学滤波
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_filtered (new pcl::PointCloud<pcl::PointXYZRGB>);
    pcl::StatisticalOutlierRemoval<pcl::PointXYZRGB> sor;
    sor.setInputCloud(cloud_downsampled);
    sor.setMeanK(10); // 设置用于计算邻域点的个数
    sor.setStddevMulThresh(10); // 设置标准差乘数阈值
    sor.filter(*cloud_filtered);




 

    int v2=0;
    // PointXYZRGB
    pcl::search::KdTree<pcl::PointXYZRGB>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZRGB>);
    tree->setInputCloud(cloud_downsampled);

simpleVis(cloud_downsampled);

    //聚类抽取结果保存在一个数组中，数组中每个元素代表抽取的一个组件点云的下标
    std::vector<pcl::PointIndices> cluster_indices;
    pcl::EuclideanClusterExtraction<pcl::PointXYZRGB> ec;
    ec.setClusterTolerance(15);
    ec.setMinClusterSize(1000);
    ec.setMaxClusterSize(500000);
    ec.setSearchMethod(tree);
    ec.setInputCloud(cloud_downsampled);
    ec.extract(cluster_indices);


    pcl::visualization::PCLVisualizer viewer("Cluster Extraction");
    //遍历抽取结果，将其显示并保存
    int j = 0;
    for (std::vector<pcl::PointIndices>::const_iterator it = cluster_indices.begin(); it != cluster_indices.end(); ++it)
    {

        //创建临时保存点云族的点云
        pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_cluster(new pcl::PointCloud<pcl::PointXYZRGB>);
        //通过下标，逐个填充
        for (std::vector<int>::const_iterator pit = it->indices.begin(); pit != it->indices.end(); pit++)
            cloud_cluster->points.push_back(cloud->points[*pit]); //*

        //设置点云属性
        cloud_cluster->width = cloud_cluster->points.size();
        cloud_cluster->height = 1;
        cloud_cluster->is_dense = true;
        pcl::PCDWriter writer;

        std::cout << "NO: "<<j<<" include point cloud: " << cloud_cluster->points.size() << " data points." << std::endl;
        std::stringstream ss;
        ss << "cloud_cluster_" << j << ".pcd";
//        writer.write<pcl::PointXYZRGB>(ss.str(), *cloud, false); //*
        j++;


        //            显示,随机设置不同颜色，以区分不同的聚类
        pcl::visualization::PointCloudColorHandlerCustom<pcl::PointXYZRGB> cluster_color(cloud_cluster, rand()*100 + j * 80, rand() * 50 + j * 90, rand() * 200 + j * 100);
        viewer.addPointCloud<pcl::PointXYZRGB>(cloud_cluster,cluster_color, ss.str(), v2);
        viewer.addPointCloud<pcl::PointXYZRGB>(cloud_cluster, cluster_color, "cluster cloud");

//break;
        //viewer.spinOnce(5000);
    }

viewer.addCoordinateSystem(1000.0);

    while (!viewer.wasStopped())
    {
        viewer.spinOnce();
    }


    return;