JonasHablitzel/PyGroundSegmentation

Pure Python Libary of Ground Segmentation Algorithms

PyGroundSegmentation

This libary includes some ground segmentation algorithms rewritten in python. There are no external C or C++ dependencies only pure python (numpy).

Installation

pip install pygroundsegmentation

Included Algorithms

• GPF (Ground Plane Fitting)
• Patchwork-plusplus
• Patchwork
• CascadedSeg

Example Usage

from pygroundsegmentation import GroundPlaneFitting

ground_estimator = GroundPlaneFitting() #Instantiate one of the Estimators

xyz_pointcloud = np.random.rand(1000,3) #Example Pointcloud
ground_idxs = ground_estimator.estimate_ground(xyz_pointcloud)
ground_pcl = xyz_pointcloud[ground_idxs]