수직을 따라 점 그룹 필터링

개시하다

시용하다

sudo apt-get install -y ros-melodic-jsk-pcl-ros
sudo apt-get install -y ros-melodic-jsk-visualization
git clone https://github.com/hoshianaaa/jsk_pcl_ros_samples.git
cd ~/catkin_ws

catkin build 
または
catkin make

source ~/catkin_ws/devel/setup.bash

roslaunch jsk_pcl_ros_samples normal_direction_filter.launch

<launch>
  <arg name="gui" default="true"/>

  <include file="$(find jsk_pcl_ros_samples)/launch/normal_estimation_omp.launch">
    <arg name="file_name" value="$(find jsk_pcl_ros_samples)/pcd/bunny.pcd"/>
    <arg name="gui" default="false"/>
  </include>

  <node name="normal_direction_filter"
        pkg="nodelet" type="nodelet"
        args="standalone jsk_pcl/NormalDirectionFilter">
    <remap from="~input" to="normal_estimation_omp/output"/>
    <rosparam>
      use_imu: false
      eps_angle: 0.2
      direction: [0, 0, 1]
    </rosparam>
  </node>

  <group if="$(arg gui)">
    <node name="extract_indices_normal_filtered"
          pkg="nodelet" type="nodelet"
          args="standalone jsk_pcl/ExtractIndices">
      <remap from="~input" to="normal_estimation_omp/output_with_xyz"/>
      <remap from="~indices" to="normal_direction_filter/output"/>
      <rosparam>
        keep_organized: true
      </rosparam>
    </node>

    <node name="rviz"
          pkg="rviz" type="rviz"
          args="-d $(find jsk_pcl_ros_samples)/rviz/normal_direction_filter.rviz"/>
  </group>
</launch>

결실