# LidarPostProcess

**Repository Path**: zoukai214/lidar-post-process

## Basic Information

- **Project Name**: LidarPostProcess
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-12-17
- **Last Updated**: 2025-12-22

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# ICV-Lidar-Post-Process

> by Zoukai
> since 2024-12-17

项目提供了一个点云后处理的框架。在此框架的基础上，用户可以自定义自己的后处理算法。



## Introduction

It contains preprocess as follow:

- ground_detect(detect ground)
- util (add some util functions in it, and some visulize util functions in it)
- feature(output mask/max_height/max_intensity/mean_height/mean_intensity)

## Usage

For python to use,It must generate a `.so` file
```bash
$ mkdir build
$ cd build
$ cmake .. -DCMAKE_POLICY_VERSION_MINIMUM=3.5
$ make -j4
```

And then,  you can run the 'python3 demo/test_height_map_feature.py' to check height_map. If you want to run the detect_ground ,you must change the 'input_pcd' and 'config.json' directory in it
``` 
$ ./test_lidar_ground_estimator /home/gz06911/project/data/height_map/icv_map/mul_clip/GACRT026_1758521849/lidar_raw/top/1758521849799000000_640_0.pcd ../config/config_ground_baseline.yaml /home/gz06911/project/data/height_map/icv_map/mul_clip/GACRT026_1758521849/calib_extract/calib_lidar_top_to_car.json ground.pcd
```

### Requirements

- PCL
- jsoncpp
- pybind11