#include
#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/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
int
main(int argc, char** argv)
{
pcl::PointCloudpcl::PointXYZ::Ptr cloud(new pcl::PointCloudpcl::PointXYZ);
// Fill in the cloud data
cloud->width = 150;
cloud->height = 1;
cloud->points.resize(cloud->width * cloud->height);
// Generate the data
for (auto& point : *cloud)
{
point.x = 100 * rand() / (RAND_MAX + 1.0f);
point.y = 100 * rand() / (RAND_MAX + 1.0f);
point.z =1;
}
// Set a few outliers
(*cloud)[0].z = 2.0;
(*cloud)[3].z = -2.0;
(*cloud)