Changes to the original loam_velodyne code

[YoshuaNava]

Hey, I'm Yoshua, robotics engineer working in Zürich, Switzerland but originally from Venezuela. Nice to meet you!

I'm interested in the work you're doing. I've been doing research on LiDAR SLAM and loop closure detection, with the purpose of further increasing the accuracy of LOAM, obtaining both globally consistent and locally accurate maps. As you, I have observed that loam_velodyne from laboshinl doesn't give highly accurate results as the ones claimed by Zhang et al in their papers.

I wanted to ask you, first of all, what kind of changes you did to the LOAM code, and if you took any of the existing LOAM forks as a starting point (for example: laboshinl's fork, lego-loam, the original version from zhang, martin-velas, etc). I would be interested in collaborating to make the open source version of LOAM as accurate as possible.

Thank you.