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Project description
PyGroundSegmentation
This libary includes some ground segmentation algorithms rewritten in python. There are no external C or C++ dependencies only pure python (numpy).
Installation
pip install pygroundsegmentation
Included Algorithms
- GPF (Ground Plane Fitting)
- Patchwork-plusplus
- Patchwork
- CascadedSeg
Example Usage
from pygroundsegmentation import GroundPlaneFitting
ground_estimator = GroundPlaneFitting() #Instantiate one of the Estimators
xyz_pointcloud = np.random.rand(1000,3) #Example Pointcloud
ground_idxs = ground_estimator.estimate_ground(xyz_pointcloud)
ground_pcl = xyz_pointcloud[ground_idxs]
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