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url-kaist / patchwork-plusplus

Patchwork++: Fast and robust ground segmentation method for 3D LiDAR scans. @ IROS'22
GNU General Public License v3.0
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About ground plane #43

Closed huixiancheng closed 7 months ago

huixiancheng commented 11 months ago

Hi, Seungjae. I used the official script to test Patchwork++ on example KITTI data and it performed well. I wanna know if Patch++ supports exporting ground plane equations that are similar to Ax + By + Cz + D = 0

huixiancheng commented 11 months ago

Also, I find that the method can not cover some case. As follow, some point that above ground been seg as groud. Any hy_params to adjust this? 2023-12-08_17-12

seungjae24 commented 7 months ago

Hi @huixiancheng,

I wanna know if Patch++ supports exporting ground plane equations that are similar to Ax + By + Cz + D = 0

In the existing code, it doesn't have a function that exports ground plane equations. But, as Patchwork++ estimates the normal and mean of the ground points in each patch, you can get them easily.

Any hy_params to adjust this?

Your given image is not enough for me to figure out which is the problem and how to solve it. Sorry :(

huixiancheng commented 7 months ago

thx for your reply. solved.

arun-venkat-23 commented 5 months ago

Hey @huixiancheng

Could you please let me know on how you solved it. I am facing the same issue, there are points which are above the ground but are still categorized as ground.

wanglaotou commented 1 week ago

Hey @huixiancheng

Could you please let me know on how you solved it. I am facing the same issue, there are points which are above the ground but are still categorized as ground.

same issue, have you solved the problem, thanks.