Remove plane from PointCloud

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Remove plane from PointCloud

dalde7
Hi, I am trying to remove a plane of a table of my pointcloud.
Firstly I read the pointcloud from a file using
/pcl::io::loadPCDFile ("/home/daniele/ros_ws/test.pcd", cloudInput);/
and then I calculated the model coefficient of a plane and I have this is
the four coefficients:
/  0.0587782
  -0.899725
  0.432481
  1.21072e-08/

Now, how can I remove this plane from my pointcloud?
Then I would to publish this pointcloud in a topic with the type
/sensor_msgs::PointCloud2/.

Thank you all.



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Re: Remove plane from PointCloud

vs-tec
Hi,

this tutorial explains what you need.

http://pointclouds.org/documentation/tutorials/cluster_extraction.php

Best

Viktor


On 10.02.2018 17:38, dalde7 wrote:

> Hi, I am trying to remove a plane of a table of my pointcloud.
> Firstly I read the pointcloud from a file using
> /pcl::io::loadPCDFile ("/home/daniele/ros_ws/test.pcd", cloudInput);/
> and then I calculated the model coefficient of a plane and I have this is
> the four coefficients:
> /  0.0587782
>    -0.899725
>    0.432481
>    1.21072e-08/
>
> Now, how can I remove this plane from my pointcloud?
> Then I would to publish this pointcloud in a topic with the type
> /sensor_msgs::PointCloud2/.
>
> Thank you all.
>
>
>
> --
> Sent from: http://www.pcl-users.org/
> _______________________________________________
> [hidden email] / http://pointclouds.org
> http://pointclouds.org/mailman/listinfo/pcl-users

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Re: Remove plane from PointCloud

dalde7
Thank you, now I can find the different cluster.

I launch my executable file whith the istruction:
/rosrun my_pkg code.cpp/
and I can't see the cluster with the istruction:
/ ./pcl_viewer cloud_cluster_0.pcd/

How can view the cluster?



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