kevin2431/traj-lo

[RA-L 2024] In Defense of LiDAR-Only Odometry Using an Effective Continuous-Time Trajectory

traj-lo's Issues

Is there any schedule for code release

Nice work! Any idea when the code will be released ? Thanks

Be aware of License Terms 😉

Hello, thanks for opening the source code for the benefit of the community.

I'm very happy to see many patterns we've developed with much love and effort for KISS-ICP. It definitely makes your implementation stand against the usual ones we see in LiDAR odometry.

Although I would recommend being a bit more conservative when it comes to copying code from other projects, even when you don't pay for it, there are licensing terms:
https://github.com/PRBonn/kiss-icp/blob/11c7d97d156a7ff72fefdacc3105db4a99805e0e/LICENSE#L13-L14

Just to name a few

Traj-LO/include/trajlo/core/map_manager.h

Lines 42 to 59 in f04d15a

	struct VoxelBlock {
	// buffer of points with a max limit of n_points
	std::vector<Eigen::Vector3d> points;
	int num_points_;
	inline void AddPoint(const Eigen::Vector3d &point) {
	if (points.size() < static_cast<size_t>(num_points_))
	points.push_back(point);
	}
	};
	struct VoxelHash {
	size_t operator()(const Voxel &voxel) const {
	const uint32_t *vec = reinterpret_cast<const uint32_t *>(voxel.data());
	return ((1 << 20) - 1) &
	(vec[0] * 73856093 ^ vec[1] * 19349663 ^ vec[2] * 83492791);
	}
	};

Looks WAY too similar too
https://github.com/PRBonn/kiss-icp/blob/11c7d97d156a7ff72fefdacc3105db4a99805e0e/cpp/kiss_icp/core/VoxelHashMap.hpp#L36-L51

I don't mind at ALL that you reuse some code. Just be mindful of not claiming it as yours, as you claim in your license.