antithing

I am still struggling with this. I found the Waymo-mini dataset, but I am lost as to how to process it. A list of steps required would be much appreciated!

Unfortunately not, I got stuck. Please post here if anyone solves it!

@Alexander0Yang are you able to help us figure this out? Thank you!

Hi, I actually found the mini dataset. https://download.openmmlab.com/mmdetection3d/data/waymo_mmdet3d_after_1x4/waymo_mini.tar.gz Which is a subset of the full dataset (and doesn't need the complicated processing) Now we just need to know how to...

Months later, i solved it. ``` cv::Ptr BruteForceMatcher::clone(bool emptyTrainData) const { cv::Ptr matcher = cv::makePtr(distance_); if (!emptyTrainData) { matcher->trainDescCollection.resize(trainDescCollection.size()); std::transform(trainDescCollection.begin(), trainDescCollection.end(), matcher->trainDescCollection.begin(), clone_op); } return matcher; } ```

Thanks! I will look at that branch. Can you please confirm that I am adding factors ciorrectly? in the line: ` pose_optimizer->addNewFactor(&cloud, icp_transform, icp_odom_pose, &curr_vertex_key, is_keyframe); ` cloud is the...

Ah sorry, in the other branch this has been replaced with `addNewKeyframe`, that makes more sense. thanks again!

Hi again, i am looking at this other branch, and stripping out ROS. I have it building and compiling, but when i view: `viewer2.showCloud(octree_mapper_.map_cloud_, "viewer1");` The point cloud is flat,...

Hi! i am using 3d Lidar, the kitti dataset. I have removed ROS, so I may have broken something in the process! My main function is: ``` void IcpSlam::mainLoop() {...

@valtron ,Hi, sorry to jump in on this, i am attempting to convert your workaround to c++, and failing. Would you be able to point me in the right direction...