2.工作记录：分割平面 拟合两个平面从尝试

#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/pcl_visualizer.h>     // 可视化
#include <pcl/filters/extract_indices.h>//按索引提取点云
#include <boost/make_shared.hpp>
#include <pcl/sample_consensus/ransac.h>
#include <pcl/sample_consensus/sac_model_plane.h>
#include <pcl/filters/extract_indices.h>

using namespace std;

typedef pcl::PointXYZ PointT;
typedef pcl::PointCloud<PointT> PointCloudT;

int main()
{
    //-------------------------- 加载点云 --------------------------
    cout << "->正在加载点云..." << endl;
    PointCloudT::Ptr cloud(new PointCloudT);
    if (pcl::io::loadPCDFile("raw.pcd", *cloud) < 0)
    {
        PCL_ERROR("\a->点云文件不存在！\n");
        system("pause");
        return -1;
    }
    cout << "->加载点云点数：" << cloud->points.size() << endl;

    std::cerr << "Point cloud data: " << cloud->points.size() << " points" << std::endl;
    for (size_t i = 0; i < cloud->points.size(); ++i)
        std::cerr << "    " << cloud->points[i].x << " "
        << cloud->points[i].y << " "
        << cloud->points[i].z << std::endl;
    // 模型系数
    pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients);
    pcl::PointIndices::Ptr inliers(new pcl::PointIndices);//内点索引
   // pcl::PointIndices::Ptr outliers (new pcl::PointIndices);//外点索引
  // 创建一个点云分割对象
    pcl::SACSegmentation<pcl::PointXYZ> seg;
    // 是否优化模型系数
    seg.setOptimizeCoefficients(true);
    // 设置模型　和　采样方法
    seg.setModelType(pcl::SACMODEL_PLANE);//　平面模型
    seg.setMethodType(pcl::SAC_RANSAC);// 随机采样一致性算法
    seg.setDistanceThreshold(0.01);//是否在平面上的阈值

    seg.setInputCloud(cloud);//输入点云
    seg.segment(*inliers, *coefficients);//分割　得到平面系数　已经在平面上的点的　索引
   // seg.setNegative(true);//设置提取内点而非外点
    //seg.segment(*inliers, *coefficients);//分割　得到平面系数　已经在平面上的点的　索引

    if (inliers->indices.size() == 0)
    {
        PCL_ERROR("Could not estimate a planar model for the given dataset.");
        return (-1);
    }
    // 打印平面