Use with point clouds generated by SLAM/LIO mapper

[lio94]

Thank you for sharing this interesting work!

I try to use this with a point cloud generated from real ground vehicle data, using LIO-SAM or a similar mapping/odometry package. The resulting point cloud of course has some incomplete surfaces due to occlusions, for example only walls of tall buildings are mapped. This seems to break the SE(2) -> RXS2 mapping.

Do you have any insight on what kind of parameters and/or preprocessing should be applied to the cloud to get it working with this package?