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A C++ version for "A Slope-robust Cascaded Ground Segmentation in 3D Point Cloud for Autonomous Vehicles" 2018 ITSC

License: Apache License 2.0

CMake 3.53% C++ 96.47%

3d-point-cloud ground-segmentation itsc autonomous-vehicles

cascaded-lidar-ground-segmentation's Introduction

Cascaded-Lidar-Ground-Segmentation

A C++ version for P. Narksri, E. Takeuchi, Y. Ninomiya, Y. Morales, N. Akai and N. Kawaguchi, "A Slope-robust Cascaded Ground Segmentation in 3D Point Cloud for Autonomous Vehicles," 2018 21st International Conference on Intelligent Transportation Systems (ITSC)

Introduction

This is an c++ version implementation on the paper "A Slope-robust Cascaded Ground Segmentation in 3D Point Cloud for Autonomous Vehicles".

The origin code is in Python, which is vesry time consuming for runnning one frame.

So I swtich the code to c++ version, but it still very time consuming that cannnot use in real time.

The code still have a lot of parts to improve, if you want to use it, you can change the code to speed up.

The workflow

How to use

Test platform

laptop:

the 7th i5
Ubuntu 16.04
pcl 1.8
OpenCV 3.3
CMake

build

mkdir build
cd build
cmake ..
make
./test1 [filename]

dataset

The data file is also from the paper https://bitbucket.org/n-patiphon/slope_robust_ground_seg

Some Result

1. transform the cloud to depth image

2. sections for second segmeantion

3. segmentation result

cascaded-lidar-ground-segmentation's People

Contributors

Stargazers

Watchers

Forkers

kinggreat24 shijian1995 soho-tse banxiyan jhx646018057 dashenyjn123 vtppplusgo gdb123 vehxianfish letusroll liuyf5231 fangjingyunner ngsford yonglezhang mengxingshifen1218 xiaokn

cascaded-lidar-ground-segmentation's Issues

install error

when I install the package, and perform "make", there is :
[100%] Linking CXX executable test1 /usr/bin/ld: 找不到 -lefence collect2: error: ld returned 1 exit status CMakeFiles/test1.dir/build.make:408: recipe for target 'test1' failed make[2]: *** [test1] Error 1 CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/test1.dir/all' failed make[1]: *** [CMakeFiles/test1.dir/all] Error 2 Makefile:83: recipe for target 'all' failed make: *** [all] Error 2
what should i do to resolve the problem?

请问一下2083代表的含义

如题！

the error about run the code !!

编译通过之后，运行代码。报错段错误（核心已转储）！我在build里面建了一个文件夹保存pcd文件，然后./test1 /pcd/123.pcd 最后代码报错。请问一下怎么该？我直接把路径写道。cpp文件中可以吗？*pcl::io::loadPCDFile("/home/lwl/Cascaded-Lidar-Ground-Segmentation-main/code/build/pcd/123.pcd", cloud);

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