visual-studio-2010 - 公開されている PCL RANSAC コードを実行し、結果を保存しても機能しない

Question

ここから PCL 用の RANSAC の公開コードを使用しようとしています: http://pointclouds.org/documentation/tutorials/random_sample_consensus.php

ただし、3Dビューア部分は省略しています。私が直面している問題は、結果を保存できないことです。また、最終的な点群のサイズを確認すると、ゼロが表示されます。コードは次のとおりです。

#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 <boost/thread/thread.hpp>

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>);

  pcl::PointCloud<pcl::PointXYZ> final_result = *final; 

  // populate our PointCloud with points
  cloud->width    = 500;
  cloud->height   = 1;
  cloud->is_dense = false;
  cloud->points.resize (cloud->width * cloud->height);
  for (size_t i = 0; i < cloud->points.size (); ++i)
  {
    if (pcl::console::find_argument (argc, argv, "-s") >= 0 || pcl::console::find_argument (argc, argv, "-sf") >= 0)
    {
      cloud->points[i].x = 1024 * rand () / (RAND_MAX + 1.0);
      cloud->points[i].y = 1024 * rand () / (RAND_MAX + 1.0);
      if (i % 5 == 0)
        cloud->points[i].z = 1024 * rand () / (RAND_MAX + 1.0);
      else if(i % 2 == 0)
        cloud->points[i].z =  sqrt( 1 - (cloud->points[i].x * cloud->points[i].x)
                                      - (cloud->points[i].y * cloud->points[i].y));
      else
        cloud->points[i].z =  - sqrt( 1 - (cloud->points[i].x * cloud->points[i].x)
                                        - (cloud->points[i].y * cloud->points[i].y));
    }
    else
    {
      cloud->points[i].x = 1024 * rand () / (RAND_MAX + 1.0);
      cloud->points[i].y = 1024 * rand () / (RAND_MAX + 1.0);
      if( i % 2 == 0)
        cloud->points[i].z = 1024 * rand () / (RAND_MAX + 1.0);
      else
        cloud->points[i].z = -1 * (cloud->points[i].x + cloud->points[i].y);
    }
  }

  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));
  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);
  }

  // copies all inliers of the model computed to another PointCloud
  pcl::copyPointCloud<pcl::PointXYZ>(*cloud, inliers, *final); 
  cout << final->size() << endl;  // show the size
  pcl::PointCloud<pcl::PointXYZ> final_result = *final;
  pcl::io::savePCDFile ("final_result.pcd", final_result);  // save

  return 0;
 } 

なぜこれが機能しないのですか？