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PRBonn / kiss-icp

A LiDAR odometry pipeline that just works
https://www.ipb.uni-bonn.de/wp-content/papercite-data/pdf/vizzo2023ral.pdf
MIT License
1.5k stars 303 forks source link

Autocompute ICP covariance #296

Closed nachovizzo closed 1 month ago

nachovizzo commented 5 months ago

Follow up the fixed covariance introduced in https://github.com/PRBonn/kiss-icp/pull/283 and add an option to auto-compute covariance from the ICP loop

michael-code19 commented 4 months ago

Hi, we are interested in using your library and would like computed covariances, is this available now or is it an upcoming feature? Alternatively I might be able to work on adding it.

tizianoGuadagnino commented 4 months ago

Hi, I'm currently working on this feature. You can see that in the branch associated with this issue. It might get some time to get it in the state that me and the others like but it is gonna be there at some point.

tizianoGuadagnino commented 1 month ago

@nachovizzo @benemer shall we close this and open it again later?

nachovizzo commented 1 month ago

Or mark is a draft? but yes, I won't be able to look into this, in at least 3/5 months