LiDAR data

[nachovizzo]

Great work!

Is there any plan to extend this for LiDAR only data?

[zeroAska]

Thanks for asking! We did have some code on Lidar data, though the parameters are not extensively tested or tuned yet. To compile with Lidar support, please set the flag to be true in CMakeLists.txt. The difference between LiDAR and image input is that the FEATURE_DIMENSIONS is set to 1 instead of 5. Example code that runs LiDAR frame-to-frame odometry can be found on:

• Geometric Registration: src/experiments/main_cvo_gpu_lidar_raw_geometric.cpp
• Intensity Registration: src/experiments/main_cvo_gpu_lidar_raw_intensity.cpp
• Semantic Registration: src/experiments/main_cvo_gpu_lidar_raw_semantic.cpp

A starting point to launch an experiment is scripts/cvo_intensity_loam.bash which we use LegoLoam's way of downsampling Lidar inputs from KITTI. Another launch script example is scripts/cvo_geoemtric_range_ell.bash where we select high gradient edge points from KITTI.

[nachovizzo]

Thanks for the fast reply! I will give it a look