pcl去除无强度地面点云代码

使用PCL库去除无强度地面点云的代码如下：

#include <iostream>
#include <pcl/io/pcd_io.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/segmentation/sac_segmentation.h>
#include <pcl/segmentation/extract_clusters.h>

int main(int argc, char** argv)
{
    if (argc < 2)
    {
        std::cerr << "Please provide input file." << std::endl;
        return -1;
    }

    // Load input file
    pcl::PointCloud<pcl::PointXYZI>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZI>);
    if (pcl::io::loadPCDFile(argv[1], *cloud) == -1)
    {
        std::cerr << "Failed to read input file." << std::endl;
        return -1;
    }

    // Remove ground points
    pcl::ExtractIndices<pcl::PointXYZI> extract;
    pcl::PointIndices::Ptr ground_indices(new pcl::PointIndices());
    pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients());
    pcl::SACSegmentation<pcl::PointXYZI> segmentation;
    segmentation.setModelType(pcl::SACMODEL_PLANE);
    segmentation.setMethodType(pcl::SAC_RANSAC);
    segmentation.setDistanceThreshold(0.2);
    segmentation.setInputCloud(cloud);
    segmentation.segment(*ground_indices, *coefficients);
    extract.setInputCloud(cloud);
    extract.setIndices(ground_indices);
    extract.setNegative(true);
    pcl::PointCloud<pcl::PointXYZI>::Ptr filtered_cloud(new pcl::PointCloud<pcl::PointXYZI>);
    extract.filter(*filtered_cloud);

    // Save output file
    pcl::io::savePCDFileASCII("filtered_cloud.pcd", *filtered_cloud);

    std::cout << "Filtered cloud saved to filtered_cloud.pcd" << std::endl;

    return 0;
}

这段代码使用了PCL库中的`SACSegmentation`和`ExtractIndices`类，首先对点云进行平面分割，分割出地面点云的索引和系数，然后使用`ExtractIndices`类将地面点云从原始点云中移除。