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.
For more depedenices or one Dockerfile for all, check:
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ROS-full: for boost and Eigen or you can install these two manually
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glog gflag (only for print)
sh -c "$(wget -O- https://raw.githubusercontent.com/Kin-Zhang/Kin-Zhang/main/Dockerfiles/latest_glog_gflag.sh)"
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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:jbeder/yaml-cpp which is the version could build in 22.04
cd ${Tmp_folder} git clone --branch yaml-cpp-0.6.0 --single-branch 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
An issue mentioned here, and I needed set 0.6.0 version to get rid of error, check this comment
cmake -B build && cmake --build build
./build/dynablox_run /home/kin//data/00 assets/config.yaml -1
This work is refactored during our DynamicMap benchmark and DUFOMap, please cite our work if you use this code version.
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}
}
@article{daniel2024dufomap,
author = {Daniel, Duberg and Zhang, Qingwen and Jia, Mingkai and Jensfelt, Patric},
title = {DUFOMap: Efficient Dynamic Awareness Mapping},
journal = {arXiv preprint arXiv:2403.01449},
year = {2024},
}