ch08——8.3.5从点云中提取索引
1.使用ExtractIndices滤波器,基于某一分割算法提取点云中的一个子集。
2.代码
#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/filters/voxel_grid.h>
#include <pcl/filters/extract_indices.h>
using namespace std;
using namespace pcl;
int main() {
//声明滤波前后的点云
//源码sensor_msgs::PointCloud2改成PCLPointCloud2
PCLPointCloud2::Ptr cloud_blob(new PCLPointCloud2),cloud_filtered_blob(new PCLPointCloud2);
PointCloud<PointXYZ>::Ptr cloud_filtered(new PointCloud<PointXYZ>),
cloud_p(new PointCloud<PointXYZ>