patchwork-plusplus

<div align="center"> <h1>Patchwork++</h1> <a href="https://github.com/url-kaist/patchwork-plusplus/tree/master/patchworkpp"><img src="https://img.shields.io/badge/-C++-blue?logo=cplusplus" /></a> <a href="https://github.com/url-kaist/patchwork-plusplus/tree/master"><img src="https://img.shields.io/badge/Python-3670A0?logo=python&logoColor=ffdd54" /></a> <a href="https://github.com/url-kaist/patchwork-plusplus/tree/master/ros"><img src="https://img.shields.io/badge/ROS2-Humble-blue" /></a> <a href="https://github.com/url-kaist/patchwork-plusplus/tree/master"><img src="https://img.shields.io/badge/Linux-FCC624?logo=linux&logoColor=black" /></a> <a href="https://ieeexplore.ieee.org/document/9981561"><img src="https://yellow-cdn.veclightyear.com/0a4dffa0/5bc3e9b6-aeee-47fa-89bd-e0128647aaa0.svg"/> <br /> <br /> <a href=https://www.youtube.com/watch?v=fogCM159GRk>视频</a> <span>  •  </span> <a href="https://github.com/url-kaist/patchwork-plusplus/tree/master/README.md###Python">安装</a> <span>  •  </span> <a href="https://github.com/url-kaist/patchwork-plusplus/tree/master/ros">ROS2</a> <span>  •  </span> <a href=https://www.youtube.com/watch?v=fogCM159GRk>论文</a> <span>  •  </span> <a href=https://github.com/url-kaist/patchwork-plusplus/issues>联系我们</a> <br /> <br /> <p align="center"><img src=pictures/patchwork++.gif alt="animated" /></p>

Patchwork++是Patchwork的扩展版本，是一种快速、稳健且自适应的3D点云地面分割算法。

</div>

:open_folder: 仓库内容

Patchwork++的C++源代码 (patchworkpp)
使用pybind11的Patchwork++ Python绑定 (python_wrapper)
C++、Python和ROS2的示例代码 :thumbsup:

如果你熟悉ROS1，也可以访问这里并尝试执行基于ROS1的Patchwork++！

:package: 前置依赖包

我们只需要最少的依赖。

sudo apt-get install g++ build-essential libeigen3-dev python3-pip python3-dev cmake -y

</details>

:gear: 如何构建和运行

Python

纯安装

make pyinstall

然后，你可以通过import pypatchworkpp使用Patchwork++，非常简单！

安装以运行演示

仅为可视化目的额外安装Open3D（> 0.17.0）。

make pyinstall_with_demo

如何运行Python演示示例在此处有说明。

C++

纯安装

make cppinstall

带演示的安装

仅额外安装Open3D（> 0.17.0）用于可视化目的。

make cppinstall_with_demo

如何运行C++演示示例在此处有说明。

ROS2

您不需要任何额外的依赖，只需克隆并构建：

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/url-kaist/patchwork-plusplus.git
cd ~/ros2_ws
colcon build --packages-select patchworkpp
source ./install/setup.bash

如何启动ROS2节点在此处有说明。

:pencil: 引用

如果您使用我们的代码，请引用我们的论文（arXiv，[IEEE Xplore][patchworkppIEEElink]）

@inproceedings{lee2022patchworkpp,
    title={{Patchwork++: Fast and robust ground segmentation solving partial under-segmentation using 3D point cloud}},
    author={Lee, Seungjae and Lim, Hyungtae and Myung, Hyun},
    booktitle={Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst.},
    year={2022},
    pages={13276-13283}
}

此外，您还可以查看我们的基线Patchwork的论文。（[arXiv][patchworkarXivlink]，[IEEE Xplore][patchworkIEEElink]）

@article{lim2021patchwork,
    title={Patchwork: Concentric Zone-based Region-wise Ground Segmentation with Ground Likelihood Estimation Using a 3D LiDAR Sensor},
    author={Lim, Hyungtae and Minho, Oh and Myung, Hyun},
    journal={IEEE Robotics and Automation Letters},
    year={2021}
}

:triangular_flag_on_post: 测试环境

Ubuntu ~~18.04和~~20.04以及22.04
CMake 3.25.1（>=3.20，安装Open3D所需的最低版本）
- 在scripts/install_open3d.bash中，已经实现了更高版本CMake的安装。
Open3D ~~0.15.2~~ 0.18.0
pybind11 v2.2.3
Eigen 3.3.7