pcl :: RandomSampleConsensus :: computeModel无法选择样本！我尝试安装SampleConsensusModelLine

Question

时发生错误

我想使用pcl :: SampleConsensusModelLine使线适合我的点云。我可以加载数据，但是当我尝试计算模型时，会发生此错误。

使用以下字段从xyzc-Cloud.pcd加载了14937个数据点：1086.05 141842 02653.82 139326 02653.24 139335 02652.89 139344 02646.78 139345 02077.01 140469 01083.29 140043 01703.44 141192 02572.16 140426 03214.23 140265 0[pcl :: RandomSampleConsensus :: computeModel]无法选择任何样本！

我的数据是2D的，因此我将所有数据的z坐标都设为0。也许这会导致错误，但我不知道如何在2D数据中使用pcl。我遵循了此pcl教程，并使用示例数据将其用于平面模型和球体模型。

这是我的代码：

#include <iostream>
#include <thread>

#include <pcl/console/parse.h>
#include <pcl/filters/extract_indices.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/sample_consensus/ransac.h>
#include <pcl/sample_consensus/sac_model_plane.h>
#include <pcl/sample_consensus/sac_model_sphere.h>
#include <pcl/visualization/pcl_visualizer.h>

#include <pcl/sample_consensus/sac_model_line.h>


using namespace std::chrono_literals;

pcl::visualization::PCLVisualizer::Ptr
simpleVis (pcl::PointCloud<pcl::PointXYZ>::ConstPtr cloud)
{
  // --------------------------------------------
  // -----Open 3D viewer and add point cloud-----
  // --------------------------------------------
  pcl::visualization::PCLVisualizer::Ptr viewer (new pcl::visualization::PCLVisualizer ("3D Viewer"));
  viewer->setBackgroundColor (0, 0, 0);
  viewer->addPointCloud<pcl::PointXYZ> (cloud, "sample cloud");
  viewer->setPointCloudRenderingProperties (pcl::visualization::PCL_VISUALIZER_POINT_SIZE, 3, "sample cloud");
  //viewer->addCoordinateSystem (1.0, "global");
  viewer->initCameraParameters ();
  return (viewer);
}

int
main(int argc, char** argv)
{
  // initialize PointClouds
  pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
  pcl::PointCloud<pcl::PointXYZ>::Ptr final (new pcl::PointCloud<pcl::PointXYZ>);

  // read own pcd data
  if (pcl::io::loadPCDFile<pcl::PointXYZ> ("xyzc-Cloud.pcd", *cloud) == -1) //* load the file
  {
    PCL_ERROR ("Couldn't read file xyzc_Cloud.pcd \n");
    return (-1);
  }
  std::cout << "Loaded "
            << cloud->width * cloud->height
            << " data points from xyzc-Cloud.pcd with the following fields: "
            << std::endl;

  for (size_t i = 0; i < 10; ++i)  
    std::cout << "    " << cloud->points[i].x
              << " "    << cloud->points[i].y
              << " "    << cloud->points[i].z << std::endl;

  std::vector<int> inliers;

  // 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));

  // added line model function
  pcl::SampleConsensusModelLine<pcl::PointXYZ>::Ptr
    model_l(new pcl::SampleConsensusModelLine<pcl::PointXYZ> (cloud));



  if(pcl::console::find_argument (argc, argv, "-f") >= 0)
  {
    pcl::RandomSampleConsensus<pcl::PointXYZ> ransac (model_p);
    ransac.setDistanceThreshold (.01);
    ransac.computeModel();
    ransac.getInliers(inliers);
  }
  else if (pcl::console::find_argument (argc, argv, "-sf") >= 0 )
  {
    pcl::RandomSampleConsensus<pcl::PointXYZ> ransac (model_s);
    ransac.setDistanceThreshold (.01);
    ransac.computeModel();
    ransac.getInliers(inliers);
  }
  else if (pcl::console::find_argument (argc, argv, "-lf") >= 0 )
  {
    pcl::RandomSampleConsensus<pcl::PointXYZ> ransac (model_l);
    ransac.setDistanceThreshold (.01);
    ransac.computeModel();
    ransac.getInliers(inliers);
  }

  // copies all inliers of the model computed to another PointCloud
  pcl::copyPointCloud (*cloud, inliers, *final);

  // creates the visualization object and adds either our original cloud or all of the inliers
  // depending on the command line arguments specified.
  pcl::visualization::PCLVisualizer::Ptr viewer;
  if (pcl::console::find_argument (argc, argv, "-f") >= 0 || pcl::console::find_argument (argc, argv, "-sf") >= 0 || pcl::console::find_argument (argc, argv, "-lf") >= 0)
    viewer = simpleVis(final);
  else
    viewer = simpleVis(cloud);
  while (!viewer->wasStopped ())
  {
    viewer->spinOnce (100);
    std::this_thread::sleep_for(100ms);
  }
  return 0;
 }

环境：MacOS Mojave版本：10.14.6