效果：

代码：

#include <iostream>
#include <vector>#include <pcl/point_types.h>
#include <pcl/io/pcd_io.h>
#include <pcl/visualization/cloud_viewer.h>
#include <pcl/filters/filter_indices.h>
#include <pcl/segmentation/min_cut_segmentation.h>int main()
{pcl::PointCloud<pcl::PointXYZ>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZ>);if( pcl::io::loadPCDFile<pcl::PointXYZ>("/home/lrj/work/pointCloudData/table_scene_lms400.pcd", *cloud) == -1){std::cout << "Cloud reading failed." << std::endl;return (-1);}pcl::IndicesPtr indices (new std::vector<int>);pcl::removeNaNFromPointCloud(*cloud, *indices);pcl::MinCutSegmentation<pcl::PointXYZ> seg;seg.setInputCloud(cloud);seg.setIndices(indices);// 指定前景点pcl::PointCloud<pcl::PointXYZ>::Ptr foreground_points(new pcl::PointCloud<pcl::PointXYZ>());pcl::PointXYZ point;point.x = 68/97;point.y = -18.55;point.z = 0.57;foreground_points->points.push_back(point);seg.setForegroundPoints(foreground_points);seg.setSigma(0.25);seg.setRadius(3.0433856);seg.setNumberOfNeighbours(14);seg.setSourceWeight(0.8);std::vector<pcl::PointIndices> clusters;seg.extract(clusters);std::cout << "Maximum flow is " << seg.getMaxFlow() << std::endl;pcl::PointCloud<pcl::PointXYZRGB>::Ptr colored_cloud = seg.getColoredCloud();pcl::visualization::CloudViewer viewer("Cluster viewer");viewer.showCloud(colored_cloud);while (!viewer.wasStopped()){}return(0);}