san9569/patchwork-plusplus

Unofficial customized repository of Patchwork forPoint cloud segmentation

patchwork-plusplus

Unofficial customized repository of Patchwork++ for Point cloud segmentation

Installation

Python

# in patchwork-plusplus directory
$ pip install . 

C++

# in patchwork-plusplus directory
$ mkdir build && cd build
$ cmake ..
$ make

How to apply the ground removal with Patchwork++ in your python code

1. clone this repo in your working directory

   $ git clone https://github.com/eugenebak/patchwork-plusplus.git

2. Install patchwork++

   $ cd patchwork-plusplus
   $ pip install .

3. Import pypatchworkpp in the code

   patchwork_module_path = "./patchwork-plusplus/build/python_wrapper"
   sys.path.insert(0, patchwork_module_path)
   import pypatchworkpp
   import numpy as np

4. Declare patchwork++

   PatchworkPLUSPLUS = pypatchworkpp.patchworkpp(params)

5. Ground removal

   PatchworkPLUSPLUS.estimateGround(point_cloud_data)
   ground_segments_points = PatchworkPLUSPLUS.getNonground()
   intensity = np.zeros(len(ground_segments_points)).reshape(-1,1)
   point_cloud_data = np.hstack((ground_segments_points, intensity))

   point_cloud_data is a numpy array with the shape of (N, 4) where N is the number of points.

   In this example, intensity values of non-ground points are filled with zero.