README.md

Patchwork++

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Patchwork++, an extension of Patchwork, is a fast, robust, and self-adaptive ground segmentation algorithm on 3D point cloud.

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Patchwork++ in C++

Manual Installation Just in Case

# in patchwork-plusplus directory
$ cd cpp && mkdir build && cd build
$ cmake -DCMAKE_BUILD_TYPE=Release ..
$ make -j 16

If you want to run demo, just run the following command in the top-level directory as follows:

make cppinstall_with_demo

, or

# in patchwork-plusplus directory
$ cd cpp && mkdir build && cd build
$ cmake -DCMAKE_BUILD_TYPE=Release -DINCLUDE_CPP_EXAMPLES=ON ..
$ make -j 16

Warning

Please check your cmake version via cmake --version. If it is lower than 3.20, it is automatically updated by scripts/install_latest_cmake.bash (see here).

sudo make install

Interestingly, our repository also supports sudo make install. After the build, go to cpp/build directory and then just run

sudo make install

Consequently, our Patchwork++ is installed in your local environment. An example of finding the patchworkpp package in another package is also provided in example_of_find_package

🏃 To run the demo codes

There are some example codes for your convenience! Please try using Patchwork++ to segment ground points in a 3D point cloud 😃

• Example 1. Run patchwork++ and visualize ground points (green) and non-ground points (red)

./cpp/build/examples/demo_visualize

• Example 2. Run patchwork++ with sequential point cloud inputs

./cpp/build/examples/demo_sequential

• Example 3. Run patchwork++ with your point cloud file, example here

./examples/demo_visualize ./data/000000.bin # specify file path

Demo Result

If you execute Patchwork++ with given demo codes well, you can get the following result!

It is a ground segmentation result of data/000000.bin file using Open3D visualization. (Ground : Green, Nonground : Red)