csf_pcl

A standalone PCL (Point Cloud Library) implementation of the Cloth Simulation Filter (CSF)^[1] for ground and non-ground point cloud separation.

If you're using ROS 2, please check out the companion package: 👉 csf_ros

📦 Installation

Using colcon (recommended for ROS 2 workspaces)

Simply clone this repository into your workspace’s src directory and build it as usual. See here for instructions.

Standalone build

For standalone (non-ROS) use, build and install the library as follows:

git clone https://github.com/mitukou1109/csf_pcl.git
cd csf_pcl
mkdir build && cd build
cmake ..
make -j$(nproc)
sudo make install

⚙️ Usage in CMake projects

You can easily integrate csf_pcl into your own CMake-based projects like the following example:

cmake_minimum_required(VERSION 3.8)
project(my_project)

find_package(csf_pcl REQUIRED)

add_executable(my_target main.cpp)
target_link_libraries(my_target PRIVATE csf_pcl::csf_pcl)

🧩 Reference

[1] W. Zhang et al., “An Easy-to-Use Airborne LiDAR Data Filtering Method Based on Cloth Simulation,” Remote Sensing, vol. 8, no. 6, p. 501, June 2016, doi: 10.3390/rs8060501.

📝 License

This project is licensed under the BSD License.