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