How to filter floor / ground from Pointcloud2

I get a Pointcloud2 message from a pitching LIDAR, before I do SLAM with it, I need to filter out the floor or ground from the Pointcloud2, and also the high points that can be ignored.

Any Pointcloud2 filter package or example?

Asked by KrizChong on 2021-05-27 04:05:28 UTC

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Answers

I'm not aware of any examples off the top of my head, but you can use the normal vector for the points in the cloud.

If you don't have normals, you can estimate them using the method here.

Basically, you'll just remove points that have normals facing up.

Asked by allenh1 on 2021-05-28 09:05:30 UTC