快速3D点云分割论文代码（带注解）：Fast segmentation of 3d point clouds for ground vehicles
Implementation of the ground segmentation algorithm proposed in
@inproceedings{himmelsbach2010fast,
title={Fast segmentation of 3d point clouds for ground vehicles},
author={Himmelsbach, Michael and Hundelshausen, Felix V and Wuensche, H-J},
booktitle={Intelligent Vehicles Symposium (IV), 2010 IEEE},
pages={560--565},
year={2010},
organization={IEEE}
}
参考：https://github.com/lorenwel/linefit_ground_segmentation
相关算法（带中文详细注解）：https://github.com/HuangCongQing/plane_fit_ground_filter
@双愚 , 若fork或star请注明来源
个人笔记已更新到知识星球：https://t.zsxq.com/0fsic6p29
Make sure you have the following is installed:
数据集已处理好，放在百度网盘上，需要自己下载
- kitti_2011_09_26_drive_0005_synced.bag
- 链接: https://pan.baidu.com/s/1sYWHzF11RpyEW25cQ_iNGA 密码: b6pd
将本仓库下的三个文件夹移动到catkin_wp/src下，然后执行下面操作
// 创建环境变量 src中运行
mkdir -p catkin_wp/src
cd catkin_wp/src
catkin_init_workspace
// 编译（需要回到工作空间catkin_wp）
cd ..
catkin_make // 产生build和devel文件夹
//设置环境变量，找到src里的功能包(每个新的shell窗口都要执行以下source devel/setup.bash)
source devel/setup.bash // 不同shell，不同哦.sh .zsh 通过设置gedit ~/.zshrc，不用每次都source详情可参考：https://www.yuque.com/docs/share/e59d5c91-b46d-426a-9957-cd262f5fc241?# 《09.创建工作空间与功能包※※※》
举例：修改输入topic
cd linefit_ground_segmentation/linefit_ground_segmentation_ros/launch/segmentation.launch
#第8行 <param name="input_topic" value="/kitti/velo/pointcloud" />修改你的雷达点云话题
<param name="input_topic" value="/kitti/velo/pointcloud" /> <!-- 输入topic -->
主要代码路径：
linefit_ground_segmentation/linefit_ground_segmentation/src
roscore
--loop循环
# kitti官方 注意修改路径path
rosbag play path/kitti_2011_09_26_drive_0005_synced.bag --loop
rviz
可使用此配置 config.rviz
注意：Fixed Frame： velo_link
# 运行launch
roslaunch linefit_ground_segmentation_ros segmentation.launch
- 项目代码：https://github.com/lorenwel/linefit_ground_segmentation
- 依赖1：git clone https://github.com/catkin/catkin_simple
- 依赖2：https://github.com/google/glog
- 注解：https://github.com/sysuzyc/road_detecting
- 论文：https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=5548059&tag=1
Copyright (c) 双愚. All rights reserved.
Licensed under the BSD 3-Clause License License.
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