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update pointcloud_cluster

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zhangwanjie 2020-12-12 19:24:30 +08:00
parent afc5a79605
commit 633bbb42b5
1 changed files with 1 additions and 0 deletions
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wpb_home_tutorials/src/wpb_home_pointcloud_cluster.cpp
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@ -103,6 +103,7 @@ void PointcloudCB(const sensor_msgs::PointCloud2 &input)
points_z_sum += cloud_src.points[point_index].z; points_z_sum += cloud_src.points[point_index].z;
} }
float plane_height = points_z_sum/point_num; float plane_height = points_z_sum/point_num;
ROS_INFO("plane_height = %.2f",plane_height);
// 对点云再次进行截取，只保留平面以上的部分 // 对点云再次进行截取，只保留平面以上的部分
pass.setInputCloud (cloud_src.makeShared()); pass.setInputCloud (cloud_src.makeShared());