PCL 点云分割 并提取子点云的序号

#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>


int
main(int argc, char** argv)
{
   
	pcl::PCLPointCloud2::Ptr cloud_blob(new pcl::PCLPointCloud2());
	pcl::PCLPointCloud2::Ptr cloud_filtered_blob(new pcl::PCLPointCloud2());
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered