#include?
#include?
#include?
#include?
#include?
#include?
#include?
#include?

int?main（int?argc?char**?argv）
{
	pcl::PointCloud::Ptr?cloud_source?（new?pcl::PointCloud）;
	pcl::PointCloud::Ptr?cloud_target?（new?pcl::PointCloud）;


	//?check?arguments
	if（argc?!=?2）?{
		std::cout?<		return?-1;
	}

	//?load?pcd?file
	if（pcl::io::loadPCDFile（argv[1]?*cloud_source）==-1）?{
		std::cout?<		return?-1;
	}

	std::cout?<

	//?pass?through?filter?to?get?the?certain?field
	pcl::PointCloud::Ptr?cloud_source_filtered（new?pcl::PointCloud）;
	pcl::PassThrough?pt;
	pt.setInputCloud（cloud_source）;
	pt.setFilterFieldName（“y“）;
	pt.setFilterLimits（-0.1?0.6）;
	pt.filter（*cloud_source_filtered）;
	
	//?segmentation
	pcl::ModelCoefficients::Ptr?coefficients?（new?pcl::ModelCoefficients）;
	pcl::PointIndices::Ptr?inliers?（new?pcl::PointIndices）;

	pcl::SACSegmentation?sac;
	sac.setInputCloud（cloud_source_filtered）;????//?cloud_source_filtered?為提取桌子表面?cloud_source?為提取地面
	sac.setMethodType（pcl::SAC_RANSAC）;
	sac.setModelType（pcl::SACMODEL_PLANE）;
	sac.setDistanceThreshold（0.01）;
	sac.setMaxIterations（100）;
	sac.setProbability（0.95）;

	sac.segment（*inliers?*coefficients）;
	
	//?extract?the?certain?field
	pcl::ExtractIndices?ei;
	ei.setIndices（inliers）;
	ei.setInputCloud（cloud_source_filtered）;????//?cloud_source_filtered?為提取桌子表面?cloud_source?為提取地面
	ei.filter（*cloud_target）;

	std::cout?<
	//?display
	pcl::visualization::PCLVisualizer?p;
	pcl::visualization::PointCloudColorHandlerCustom?tgt_h?（cloud_target?255?0?0）;
	p.addPointCloud（cloud_target?tgt_h?“target“）;
	p.spinOnce（）;
	
	pcl::visualization::PCLVisualizer?p2;
	pcl::visualization::PointCloudColorHandlerCustom?src_h?（cloud_source?0?255?0）;
	p2.addPointCloud（cloud_source?src_h?“source“）;
	p2.spin（）;

	

	return?0;
}

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件????????2349??2014-09-07?11:35??PlaneModelSegmentation.cpp
?????文件????17492958??2014-07-17?20:32??empty?desktop.pcd
?????文件?????????358??2014-09-06?10:23??CMakeLists.txt