楼主采用OrganizedMultiPlaneSegmentation类 一次性对建筑物多个面进行分割,分割后结果coes,indics里面为空,代码哪里不对呢?
std::vector<pcl::ModelCoefficients>coes;
std::vector<pcl::PointIndices>indics;
pcl::PointCloud<pcl::Normal>::Ptr cloud_normals (new pcl::PointCloud<pcl::Normal>);
pcl::NormalEstimation<pcl::PointXYZRGBNormal,pcl::Normal>ne;
pcl::search::KdTree<pcl::PointXYZRGBNormal>::Ptr tree(new pcl::search::KdTree<pcl::PointXYZRGBNormal>());
pcl::OrganizedMultiPlaneSegmentation<pcl::PointXYZRGBNormal,pcl::Normal,pcl::Label>mseg;
ne.setSearchMethod(tree);
ne.setInputCloud(cloud.makeShared());
ne.setKSearch(20);
ne.compute(*cloud_normals);
mseg.setInputCloud(cloud.makeShared());
mseg.setInputNormals(cloud_normals);
mseg.segment(coes,indics);
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