ModelOutlierRemoval
基于模型的点分割操作，将模型外的点从点云中剔除。
#include <iostream>
#include <pcl/point_types.h>
#include <pcl/filters/model_outlier_removal.h>
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZ>);
pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_sphere_filtered (new pcl::PointCloud<pcl::PointXYZ>);
//x^2 + y^2 + z^2 = 1
pcl::ModelCoefficients sphere_coeff;
sphere_coeff.values.resize (4);
sphere_coeff.values[0] = 0;
sphere_coeff.values[1] = 0;
sphere_coeff.values[2] = 0;
sphere_coeff.values[3] = 1;
pcl::ModelOutlierRemoval<pcl::PointXYZ> sphere_filter;
sphere_filter.setModelCoefficients (sphere_coeff);
sphere_filter.setThreshold (0.05);
sphere_filter.setModelType (pcl::SACMODEL_SPHERE);
sphere_filter.setInputCloud (cloud);
sphere_filter.filter (*cloud_sphere_filtered);