patchwork-plusplus

Patchwork++


C++ API Python API

<a href=https://www.youtube.com/watch?v=fogCM159GRk>Video</a>   •   Install   •   ROS2   •   <a href=https://www.youtube.com/watch?v=fogCM159GRk>Paper</a>   •   <a href=https://github.com/url-kaist/patchwork-plusplus/issues>Contact Us</a>

<img src=pictures/patchwork++.gif alt="animated" />

(May 19, 2026) pip installation is now live:
pip install pypatchworkpp

[Patchwork++][arxivlink], an extension of [Patchwork][patchworklink], is **a fast, robust, and self-adaptive ground segmentation algorithm** on 3D point cloud.

:open_file_folder: What’s in this repo

If you are familiar with ROS1, you can also visit here and try executing ROS1-based Patchwork++!

:package: Prerequisite packages

What we need are just minimal dependencies.

Ubuntu / Debian:

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

macOS (Apple Silicon or Intel):

brew install cmake

Eigen is fetched automatically by CMake, so no extra system package is required on macOS. The build works with the bundled AppleClang toolchain.

</details>

:gear: How to build & Run

Python

The released library is on PyPI:

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

Then import pypatchworkpp in your script — see the Python examples.

Build from source (contributors / unreleased main) ```commandline make pyinstall # equivalent to `pip install ./python/` make pyinstall_with_demo # also installs Open3D >= 0.17.0 ```

C++

Pure installation

make cppinstall

Installation with demo

Only Open3D (> 0.17.0) is additionally installed for visualization purposes.

make cppinstall_with_demo

How to run the C++ demos is explained here.

ROS2

You should not need any extra dependency, just clone and build:

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
git clone https://github.com/url-kaist/patchwork-plusplus.git
cd ~/ros2_ws
colcon build --packages-select patchworkpp
source ./install/setup.bash

How to launch ROS2 nodes is explained here.

:compass: Choosing an algorithm

This repository ships two ground segmentation algorithms with the same input/output API. Pick the one that fits your data:

Python:

import pypatchworkpp as p

pp_default = p.patchworkpp(p.Parameters())          # Patchwork++
pp_classic = p.patchwork(p.PatchworkParams())       # Patchwork (classic)

ROS2: Patchwork++ is the default; pass algorithm:=patchwork to switch to the classic Patchwork.

# Default — runs Patchwork++
ros2 launch patchworkpp patchworkpp.launch.py

# Override to the classic Patchwork
ros2 launch patchworkpp patchworkpp.launch.py algorithm:=patchwork

:pencil: Citation

If you use our codes, please cite our paper (arXiv, IEEE Xplore)

@inproceedings{lee2022patchworkpp,
    title=,
    author={Lee, Seungjae and Lim, Hyungtae and Myung, Hyun},
    booktitle={Proc. IEEE/RSJ Int. Conf. Intell. Robots Syst.},
    year={2022},
    pages={13276-13283}
}

In addition, you can also check the paper of our baseline, Patchwork. (arXiv, IEEE Xplore)

@article{lim2021patchwork,
    title={Patchwork: Concentric Zone-based Region-wise Ground Segmentation with Ground Likelihood Estimation Using a 3D LiDAR Sensor},
    author={Lim, Hyungtae and Minho, Oh and Myung, Hyun},
    journal={IEEE Robotics and Automation Letters},
    year={2021}
}

:triangular_flag_on_post: Tested Environment

:mailbox: Contact Information

If you have any questions, please do not hesitate to contact us

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