LidartoLidar Octreebased method not implemented ?

[Tianyun-Xuan]

Hi, thank you for sharing the repository, appreciate for your work. I am interested in your Lidar-to-Lidar auto calibration process. I can find the following interfaces, while they are not used, neither implemented.

bool RegistrationByVoxelOccupancy(const Eigen::Matrix4d &init_guess,
                                    Eigen::Matrix4d &refined_extrinsic);
size_t ComputeVoxelOccupancy(const Eigen::Matrix4d &init_guess);

This is an idea method or you have already tested its performance? Looking forward for your reponses.

[xiaokn]

size_t ComputeVoxelOccupancy(const Eigen::Matrix4d &init_guess);

Sorry, for some reason, I deleted this part of the code and will add it later.