如何在PCL中使用体素滤波器后的SACSegmentation

#include <pcl/point_types.h>
#include <pcl/filters/voxel_grid.h>
#include <pcl/segmentation/sac_segmentation.h>

typedef pcl::PointXYZ PointT;
typedef pcl::PointCloud<PointT> PointCloudT;

pcl::VoxelGrid<PointT> voxel_filter;
pcl::SACSegmentation<PointT> sac_segmentation;

PointCloudT::Ptr cloud(new PointCloudT);
pcl::io::loadPCDFile("input_cloud.pcd", *cloud);

voxel_filter.setInputCloud(cloud);
voxel_filter.setLeafSize(0.01f, 0.01f, 0.01f); // 设置体素大小
PointCloudT::Ptr filtered_cloud(new PointCloudT);
voxel_filter.filter(*filtered_cloud);

sac_segmentation.setInputCloud(filtered_cloud);
sac_segmentation.setModelType(pcl::SACMODEL_PLANE);
sac_segmentation.setMethodType(pcl::SAC_RANSAC);
sac_segmentation.setMaxIterations(100);
sac_segmentation.setDistanceThreshold(0.01);
pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients);
pcl::PointIndices::Ptr inliers(new pcl::PointIndices);
sac_segmentation.segment(*inliers, *coefficients);

PointCloudT::Ptr plane_cloud(new PointCloudT);
PointCloudT::Ptr nonplane_cloud(new PointCloudT);
pcl::ExtractIndices<PointT> extract;
extract.setInputCloud(filtered_cloud);
extract.setIndices(inliers);
extract.setNegative(false); // 提取平面点云
extract.filter(*plane_cloud);
extract.setNegative(true); // 提取非平面点云
extract.filter(*nonplane_cloud);