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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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Support other sensor configurations #54

Open LimHyungTae opened 3 months ago

LimHyungTae commented 3 months ago

Now, I've felt some guys want to test their sensor configurations. However, our focus was mostly on the SemanticKITTI dataset.

To address this issue, I tested in my Patchwork code and separate sensor configuration (see sensor_configs.hpp and zone model (see zone_models.hpp from the single hpp file, and it worked (tested in the Kimera-Multi dataset, which is captured by 16 channel sparse LiDAR sensor)!

kimera-multi

Now, we are looking for someone to help us import those codes in Patchwork to this repository!

wanghuohuo0716 commented 2 weeks ago

Does it support solid-state or semi-solid-state LiDARs, such as the Livox MID360, and vertical resolution angles that are not fixed (0.4 to 0.8 degrees), such as the Hesai QT128 LiDAR?

LimHyungTae commented 1 week ago

I really want to support those sensors; do you have any idea of how to perform region-wise ground plane fitting for them?