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Ground Filter

This program is designed to provide a library for point cloud ground filtering. The current inherited method is only CSF. For the detailed description of the CSF method, please refer to the following paper.

W.Zhang, J.Qi*, P.Wan, H.Wang, D.Xie, X.Wang, and G.Yan, 
“An Easy-to-Use Airborne LiDAR Data Filtering Method Based on Cloth Simulation,” 
Remote Sens., vol.8, no.6, p.501,2016. (http://www.mdpi.com/2072-4292/8/6/501/htm)

In the development of our package, we reference to CSF(git@github.com:jianboqi/CSF.git).

Prerequisites

A third-party library is required to run this program:

  1. Ubuntu and ROS( pcl_ros、tf、sensor_msgs)
  2. Eigen3
  3. PCL1.8
  4. JsonCpp

Build

Clont the repository and make:

git clone git@github.com:chronofei/ground_filter.git ground_filter
cd ground_filter
mkdir build
cd build
cmake ..
make -j8

Run

source build/devel/setup.bash
cd launch
roslaunch offline.launch

Additional Notes

  1. The package name in the offline.launch needs to be specified as yours.
  2. When using, you need to adjust the parameters in the config/*.json to suit your lidar