项目作者： HViktorTsoi

项目描述：
RANSAC segmentation-based ground removal for 3D LiDAR point clouds.

高级语言： C++

项目主页：

项目地址: git://github.com/HViktorTsoi/pointcloud_ground_removal.git

创建时间： 2020-08-08T08:52:51Z
项目社区：https://github.com/HViktorTsoi/pointcloud_ground_removal
开源协议：
下载

Ground removal for point cloud

Install

First, clone this project，notice the SUBMODULE should also be cloned.

git clone --recursive https://github.com/HViktorTsoi/pointcloud_ground_removal.git

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

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