A C++ version for P. Narksri, E. Takeuchi, Y. Ninomiya, Y. Morales, N. Akai and N. Kawaguchi, "A Slope-robust Cascaded Ground Segmentation in 3D Point Cloud for Autonomous Vehicles," 2018 21st International Conference on Intelligent Transportation Systems (ITSC)

This is an c++ version implementation on the paper "A Slope-robust Cascaded Ground Segmentation in 3D Point Cloud for Autonomous Vehicles".

The origin code is in Python, which is vesry time consuming for runnning one frame.

So I swtich the code to c++ version, but it still very time consuming that cannnot use in real time.

The code still have a lot of parts to improve, if you want to use it, you can change the code to speed up.

the 7th i5
Ubuntu 16.04
pcl 1.8
OpenCV 3.3
CMake

mkdir build
cd build
cmake ..
make
./test1 [filename]

The data file is also from the paper https://bitbucket.org/n-patiphon/slope_robust_ground_seg