This libary includes some ground segmentation algorithms rewritten in python. There are no external C or C++ dependencies only pure python (numpy).
pip install pygroundsegmentation- GPF (Ground Plane Fitting)
- Patchwork-plusplus
- Patchwork
- CascadedSeg
from pygroundsegmentation import GroundPlaneFitting
ground_estimator = GroundPlaneFitting() #Instantiate one of the Estimators
xyz_pointcloud = np.random.rand(1000,3) #Example Pointcloud
ground_idxs = ground_estimator.estimate_ground(xyz_pointcloud)
ground_pcl = xyz_pointcloud[ground_idxs]