patchwork-plusplus-ros

patchwork-plusplus-ros

This is the ROS 1 package of Patchwork++ (@ IROS'22), a fast and robust ground segmentation method.

[!IMPORTANT] Using ROS 2? The main url-kaist/patchwork-plusplus repository now natively supports ROS 2 (Humble and Jazzy are exercised in CI). If you are on ROS 2, please use that repository directly — there is a dedicated ros2_node target that you can launch out of the box, and the C++ / Python APIs in the same repo work alongside it. This patchwork-plusplus-ros repository remains for ROS 1 (Noetic and earlier) users only.

If you are not familiar with ROS, please visit the original repository.

If you follow the repository, you can run Patchwork++ in Python and C++ easily.

:open_file_folder: What's in this repository

• ROS based Patchwork source code (patchworkpp.hpp)
• Demo launch file (demo.launch) with sample rosbag file. You can execute Patchwork++ simply!

:package: Prerequisite packages

You may need to install ROS, PCL, Eigen, ...

:gear: How to build Patchwork++

To build Patchwork++, you can follow below codes.

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws
$ catkin build # or catkin_make

:runner: To run the demo codes

There is a demo which executes Patchwork++ with sample rosbag file. You can download a sample file with the following command.

For the sample rosbag data, I utilizes semantickitti2bag package.

$ wget https://urserver.kaist.ac.kr/publicdata/patchwork++/kitti_00_sample.bag

If you have any trouble to download the file by the above command, please click here to download the file directly.

The rosbag file is based on the KITTI dataset. The bin files are merged into the rosbag file format.

The sample file contains LiDAR sensor data only.

Then, you can run demo as follows.

# Start Patchwork++
$ roslaunch patchworkpp demo.launch
# Start the bag file
$ rosbag play kitti_00_sample.bag

:pushpin: TODO List

• Update additional demo codes processing data with .bin file format
• Generalize point type in the source code
• Add visualization result of demo codes in readme

Citation

If you use our codes, please cite our paper.

In addition, you can also check the paper of our baseline(Patchwork) here.

@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},
    note={{Submitted}} 
}

@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}
}

:postbox: Contact

If you have any question, don't be hesitate let us know!

• Seungjae Lee :envelope: (sj98lee at kaist.ac.kr)
• Hyungtae Lim :envelope: (shapelim at kaist.ac.kr)