hdl_graph_slam support

[ikhann]

Hi! Thank you for this awesome project!

I have added a new format support for removing dynamic points from clouds built with hdl_graph_slam. New yaml file was added for hdl_graph_slam format. Before running removert you need to dump all the internal data.

I have also slightly improved the performance of the code. This branch was tested with the different data formats, it works the same perfect way.

So, to run the Removert:

$ roslaunch removert run_hdl_graph_slam.launch # if you use hdl_graph_slam dump 
or
$ roslaunch removert run_kitti.launch # if you use KITTI dataset 
 or
$ roslaunch removert run_scliosam.launch # see this tutorial: https://youtu.be/UiYYrPMcIRU

Some results: 1. Before removert

After

2. Before removert

After

[gisbi-kim]

Hi, @ikhann I've seen it now. I'll check it.