PCL点云处理_点云分割（4）

代码：

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include<pcl/console/parse.h>
#include<pcl/range_image/range_image.h>
#include<pcl/visualization/range_image_visualizer.h> 	
#include<pcl/visualization/pcl_visualizer.h>
#include<pcl/features/range_image_border_extractor.h>
#include<pcl/keypoints/narf_keypoint.h>
#include<pcl/segmentation/sac_segmentation.h>

int main(int argc,char **argv)
{
	/*------------------定义点云----------------------------*/
	pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);
	cloud->width = 15;
	cloud->height = 1;
	cloud->points.resize(15);
	//生成随机点云数据
	for (int i = 0; i < cloud->points.size(); ++i)
	{
		cloud->points[i].x = 1024 * rand() / (RAND_MAX+1.0f);
		cloud->points[i].y = 1024 * rand() / (RAND_MAX+1.0f);
		cloud->points[i].z = 1.0f;
	}

//生成一些外部点
cloud->points[0].z = 2.0;
cloud->points[3].z = -2.0;
cloud->points[6].z = 4.0;

std::cerr << "point cloud data" << cloud->points.size() << "points" << std::endl;

/*------------------分割点云----------------------------*/
//output1：内点集合，存储古河模型的点的索引
pcl::PointIndices::Ptr inliers(new pcl::PointIndices);
//output2：模型系数对象，存储了数学模型系数
pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients);
//创建点云分割对象
pcl::SACSegmentation<pcl::PointXYZ> seg;


//配置是否优化模型参数
seg.setOptimizeCoefficients(true);
//设置要分割的模型类型(平面)
seg.setModelType(pcl::SACMODEL_PLANE);
//设置分割算法
seg.setMethodType(pcl::SAC_RANSAC);
//设置最小的距离阈值
seg.setDistanceThreshold(0.01);
//设置输入点云
seg.setInputCloud(cloud);
//执行分割
seg.segment(*inliers,*coefficients);

/*------------------输出剩余点----------------------------*/
if (inliers->indices.size() == 0)
{
	PCL_ERROR("fdsaDQASFS");
}
std::cerr << "Model cloud plane data:" << coefficients->values[0] << " " << coefficients->values[1] << " " << coefficients->values[2] << " " << coefficients->values[3] << endl;
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_plane(new pcl::PointCloud<pcl::PointXYZ>);
pcl::copyPointCloud(*cloud,*inliers,*cloud_plane);
std::cerr << "  point cloud plane data " << cloud_plane->points.size() << "points" << endl;
for ( std::size_t i=0;i<cloud_plane->points.size();++i)
{
	std::cerr << "  " << cloud_plane->points[i].x << " " << cloud_plane->points[i].y << "  " << cloud_plane->points[i].z;
}
}

调试：