This program is designed to provide a library for point cloud ground filtering. The current inherited method is only CSF. For the detailed description of the CSF method, please refer to the following paper.

W.Zhang, J.Qi*, P.Wan, H.Wang, D.Xie, X.Wang, and G.Yan, 
“An Easy-to-Use Airborne LiDAR Data Filtering Method Based on Cloth Simulation,” 
Remote Sens., vol.8, no.6, p.501,2016. (http://www.mdpi.com/2072-4292/8/6/501/htm)

In the development of our package, we reference to CSF([email protected]:jianboqi/CSF.git).

A third-party library is required to run this program:

1. Ubuntu and ROS( pcl_ros、tf、sensor_msgs)
2. Eigen3
3. PCL1.8
4. JsonCpp

Clont the repository and make:

git clone [email protected]:chronofei/ground_filter.git ground_filter
cd ground_filter
mkdir build
cd build
cmake ..
make -j8

source build/devel/setup.bash
cd launch
roslaunch offline.launch

1. The package name in the offline.launch needs to be specified as yours.
2. When using, you need to adjust the parameters in the config/*.json to suit your lidar