pcl 提取子集（平面）

在点云里提取了一些子集（平面）并显示出来
参考链接
http://www.pclcn.org/study/shownews.php?lang=cn&id=72
http://pointclouds.org/documentation/tutorials/planar_segmentation.php#planar-segmentation

#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>
#include <vector>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/visualization/pcl_visualizer.h>
int main(int argc, char** argv)
{
    pcl::PCLPointCloud2::Ptr cloud_blob(new pcl::PCLPointCloud2), cloud_filtered_blob(new pcl::PCLPointCloud2);
    pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_filtered(new pcl::PointCloud<pcl::PointXYZ>);


    // Fill in the cloud data
    pcl::PCDReader reader;
    reader.read("table_scene_lms400.pcd", *cloud_blob);

    std::cerr << "PointCloud before filtering: " << cloud_blob->width * cloud_blob->height << " data points." << std::endl;

    // Create the filtering object: downsample the dataset using a leaf size of 1cm
    pcl::VoxelGrid<pcl::PCLPointCloud2> sor;
    sor.setInputCloud(cloud_blob);
    sor.setLeafSize(0.01f, 0.01f, 0.01f);
    sor.filter(*cloud_filtered_blob);

    // Convert to the templated PointCloud
    pcl::fromPCLPointCloud2(*cloud_filtered_blob, *cloud_filtered);//转化为模板