patchwork-plusplus

(★ 1,048)

Patchwork++: Fast and robust ground segmentation method for 3D LiDAR scans. @ IROS'22

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Download Latest Version (.zip)

- - cpp.yml
  - pre-commit.yml
  - pypi.yml
  - python.yml
  - ros.yml
- - eigen.cmake
  - eigen.patch
  - LICENSE
  - ListPrepend.cmake
- - CMakeLists.txt
- - CMakeLists.txt
  - demo_visualize_copied.cpp
  - README.md
- - CMakeLists.txt
- - CMakeLists.txt
- CMakeLists.txt
- COLCON_IGNORE
- README.md
- 000000.bin
- 000001.bin
- 000002.bin
- 000003.bin
- 000004.bin
- 000005.bin
- demo_000000.png
- patchwork++.gif
- patchwork2_in_ros2.gif
- - aggregate_original_patchwork.py
  - bench_hz.py
  - compare_patchwork.py
  - demo_sequential.py
  - demo_visualize.py
  - evaluate_ransac_in_semantickitti.py
  - evaluate_semantickitti.py
- - pybinding.cpp
- - test_patchwork_smoke.py
  - test_smoke.py
- CMakeLists.txt
- COLCON_IGNORE
- pyproject.toml
- README.md
- - patchworkpp.launch.py
- - patchworkpp.rviz
- - GroundSegmentationServer.cpp
  - GroundSegmentationServer.hpp
  - Utils.hpp
- CMakeLists.txt
- LICENSE
- package.xml
- README.md
- install_latest_cmake.bash
- install_open3d.bash
- run_original_patchwork.sh
.clang-format
.gitignore
.pre-commit-config.yaml
CHANGELOG.md
LICENSE
Makefile
README.md
USAGE.md

🚀 Installation Guide

1. Get the code

git clone https://github.com/url-kaist/patchwork-plusplus

Downloads the entire project code from GitHub to your computer.

cd patchwork-plusplus

Moves into the project folder you just downloaded.

2. Official Install Script

Easy Recommended

Prerequisites

APT (Debian/Ubuntu 계열) Built into Debian/Ubuntu-based Linux distributions.
Homebrew A package manager for macOS/Linux.
Python 3 Python is required to use pip.

sudo apt-get install g++ build-essential libeigen3-dev python3-pip python3-dev cmake -y

Installs directly from the APT package repository (Debian/Ubuntu-based).

brew install cmake

Installs the pre-built package via Homebrew — no source build required.

pip install pypatchworkpp # core library

Installs the package published on PyPI directly — no need to clone the source.

pip install 'pypatchworkpp[demo]' # + Open3D for the visual demos

Installs the package published on PyPI directly — no need to clone the source.

✅ After installing, open a new terminal and run the program's version command (e.g. --version) to confirm it worked.

Pulled directly from this repo's README.

3. CMake

Medium

Prerequisites

Git Needed to download the project code from GitHub.
CMake The tool used to generate build configuration.
C/C++ 컴파일러 Windows needs Visual Studio (Community edition, free), macOS needs Xcode Command Line Tools, Linux needs the gcc/g++ package.

sudo apt-get install g++ build-essential libeigen3-dev python3-pip python3-dev cmake -y

Installs directly from the APT package repository (Debian/Ubuntu-based).

brew install cmake

Installs the pre-built package via Homebrew — no source build required.

✅ Check that an executable was created inside the build folder, then run it directly (e.g. ./build/app_name).

Pulled directly from this repo's README.

4. Python

Easy

Prerequisites

Git Needed to download the project code from GitHub.
Python 3 On Windows, be sure to check 'Add Python to PATH' during installation.

sudo apt-get install g++ build-essential libeigen3-dev python3-pip python3-dev cmake -y

Installs directly from the APT package repository (Debian/Ubuntu-based).

pip install pypatchworkpp # core library

Installs the package published on PyPI directly — no need to clone the source.

pip install 'pypatchworkpp[demo]' # + Open3D for the visual demos

Installs the package published on PyPI directly — no need to clone the source.

make pyinstall # equivalent to `pip install ./python/`

Compiles the code based on the generated build configuration to produce an executable.

<strong>(May 19, 2026)</strong> pip installation is now live:

Installs the Python libraries listed in requirements.txt (or similar).

✅ If it runs without errors and prints output in the terminal, it worked.

Pulled directly from this repo's README.

5. Make

Medium

Prerequisites

Git Needed to download the project code from GitHub.
Make Usually pre-installed on Linux/macOS. On Windows, install separately (e.g. via MSYS2 or WSL).

make pyinstall # equivalent to `pip install ./python/`

Compiles the code based on the generated build configuration to produce an executable.

make pyinstall_with_demo # also installs Open3D >= 0.17.0

Compiles the code based on the generated build configuration to produce an executable.

make cppinstall

Compiles the code based on the generated build configuration to produce an executable.

make cppinstall_with_demo

Compiles the code based on the generated build configuration to produce an executable.

✅ If it finishes without errors, it worked. Try running the generated executable directly.

Pulled directly from this repo's README.