OctoMap

Reference octomapping when I write this codes.

No ros version! This method include improved please check our benchmark paper for more detail.

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

Please reference our DynamicMap benchmark for more detail on datasets.

Build & RUN

Build

cd ${this_repo}
mkdir build && cd build
cmake .. && make
./octomap_run /home/kin/data/00 ../assets/config_fg.yaml -1

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

Result, left is octomap_fg output, right is ground truth on KITTI sequence 00:

Dependencies:

1. PCL

2. glog gflag (only for print)

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

3. 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

Cite our benchmark

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}
}