This is no ros version! Origin one please check fork repo.

pcd files are enough to run this program. Need transformed and pose in VIEWPOINT.

Please reference our DynamicMap benchmark for more detail on datasets.

mkdir build && cd build
cmake .. && make
./removert_run /home/kin/data/00 ../config/params_kitti.yaml -1

• -1 means all frames in the pcd folder, default is only 1 frame.

You can use pcl_view to compare with gt under /home/kin/data/00, like this:

pcl_viewer -multiview 1 gt_cloud.pcd removert_output.pcd

Or in CloudCompare:

Dependencies:

1. OpenCV For ubuntu 20.04 may occur this error:

   fatal error: opencv2/cv.h: No such file or directory

   ln from opencv4 to opencv2

   sudo ln -s /usr/include/opencv4/opencv2 /usr/include/opencv2

2. PCL

3. glog gflag (only for print)

   sh -c "$(wget -O- https://raw.githubusercontent.com/Kin-Zhang/Kin-Zhang/main/Dockerfiles/latest_glog_gflag.sh)"

4. yaml-cpp Please set the FLAG, check this issue if you want to know more: jbeder/yaml-cpp#682, TOOD inside the CMakeLists.txt

   If you install in Ubuntu 22.04, please check this commit: https://github.com/jbeder/yaml-cpp/commit/c86a9e424c5ee48e04e0412e9edf44f758e38fb9 which is the version could build in 22.04

   cd ${Tmp_folder}
   git clone https://github.com/jbeder/yaml-cpp.git && cd yaml-cpp
   env CFLAGS='-fPIC' CXXFLAGS='-fPIC' cmake -Bbuild
   cmake --build build --config Release
   sudo cmake --build build --config Release --target install

This work is refactored during our DynamicMap benchmark.

Please also cite original work by clicking to the fork on top (core method).

@inproceedings{zhang2023benchmark,
  author={Zhang, Qingwen and Duberg, Daniel and Geng, Ruoyu and Jia, Mingkai and Wang, Lujia and Jensfelt, Patric},
  booktitle={IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)}, 
  title={A Dynamic Points Removal Benchmark in Point Cloud Maps}, 
  year={2023},
  pages={608-614},
  doi={10.1109/ITSC57777.2023.10422094}
}

• no revert part since for dense map, if you want to check the revert part, here is an issue from removert author: gisbi-kim#21