1. Filtering a PointCloud using ModelOutlierRemoval

https://pcl.readthedocs.io/projects/tutorials/en/master/model_outlier_removal.html#model-outlier-removal

• It could remove the noise?

2. Plane model segmentation

https://pcl.readthedocs.io/projects/tutorials/en/master/planar_segmentation.html#planar-segmentation

• It could detect plane, so z axis is found?

1. Viewer

pcl_viewer -multiview 1 <pcd_filepath>

1. Editor

pcl_point_cloud_editor burbach_farm.pcd

1. Filtering a PointCloud based on planar case (Project it) https://pcl.readthedocs.io/projects/tutorials/en/master/project_inliers.html#project-inliers