https://github.com/xiangkejun/chuan/tree/master/chuan_ws/src/pcl_test
1. 实现将3维激光点云数据的地面点云地面上点云分割开来。
本次我只关心地面上的激光点云。
参考
https://blog.csdn.net/AdamShan/article/details/82901295
#include "pcl_test_core.h"
PclTestCore::PclTestCore(ros::NodeHandle &nh)
{
sub_point_cloud_ = nh.subscribe("/velodyne_points", 10, &PclTestCore::point_cb, this);
pub_ground_ = nh.advertise<sensor_msgs::PointCloud2>("/filtered_points_ground", 10);
pub_no_ground_ = nh.advertise<sensor_msgs::PointCloud2>("/filtered_points_no_ground", 10);
ros::spin();
}
//xx
会产生两个节点/filtered_points_ground /filtered_points_no_ground
用于分割地面
2. 启动
roslaunch pcl_test pcl_test.launch