PCL拟合平面和球面模型

1、拟合代码

  // created RandomSampleConsensus object and compute the appropriated model
  pcl::SampleConsensusModelSphere<pcl::PointXYZ>::Ptr
    model_s(new pcl::SampleConsensusModelSphere<pcl::PointXYZ> (cloud));
  pcl::SampleConsensusModelPlane<pcl::PointXYZ>::Ptr
    model_p (new pcl::SampleConsensusModelPlane<pcl::PointXYZ> (cloud));

    pcl::RandomSampleConsensus<pcl::PointXYZ> ransac (model_p);//实例化一个随机采样对象
    ransac.setDistanceThreshold (.01);//设置拟合阈值
    ransac.computeModel();//根据模型获得内点
    ransac.getInliers(inliers);//保存内点至inliers
  // copies all inliers of the model computed to another PointCloud
  pcl::copyPointCloud<pcl::PointXYZ>(*cloud, inliers, *final);//根据inliers索引，将输入的点云cloud中的点挑选到final存放

2、全部代码

#include <iostream>
#include <pcl/console/parse.h>
#include <pcl/filters/extract_indices.h>
#include &