/pointcloud_ground_removal

RANSAC segmentation-based ground removal for 3D LiDAR point clouds.

Primary LanguageC++

Ground removal for point cloud

Install

  1. First, clone this project，notice the SUBMODULE should also be cloned.
git clone --recursive https://github.com/HViktorTsoi/pointcloud_ground_removal.git
  1. Compile and install.
python setup.py install

Usage

For details, please ref scripts/example.py

import ground_removal_ext

pc = np.empty((25000, 4)) # x,y,z,intensity

# ground removal
segmentation = ground_removal_ext.ground_removal_kernel(pc, 0.2, 200) # distance_th=0.2, iter=200

print(segmentation.shape) # (25000, 5), the last channel represents if this point is ground,
# 0: ground, 255: Non-ground