KITTI_Localization demo's point cloud and trajectory is incomplete

[fengziyue]

Hi @danieldugas @rdube

I just built and run this SegMap demo, thank you for your open-source code!

But I have a confusion about it:

the "drive_27.bag" seems not the complete version of KITTI Odometry sequence 00, it's just a part of it. Also, the drive_27_target_map.pcd is not the complete target map. In the demo, there are about 375m of the trajectory is runing outside of the target map, so there is no successful localization in this part.

I want to do the "localization probability" experiment on KITTI sequence 00 as in your SegMatch paper, how should I achieve this?

Thank you again for your outstanding contribution to the community, looking forward to your reply!

Sincerely,
Ziyue Feng