build$ ./map_test ../configuration_files mapping_imu.lua ../data/imu_radar_replay ./map_output
WARNING: Logging before InitGoogleLogging() is written to STDERR
I0707 18:23:59.730149 38017 carto.cpp:20] Initialize cartographer with configuration file ../configuration_files/mapping_imu.lua
I0707 18:23:59.830819 38017 configuration_file_resolver.cc:41] Found '../configuration_files/mapping_imu.lua' for 'mapping_imu.lua'.
I0707 18:23:59.831053 38017 configuration_file_resolver.cc:41] Found '../configuration_files/map_builder.lua' for 'map_builder.lua'.
I0707 18:23:59.831105 38017 configuration_file_resolver.cc:41] Found '../configuration_files/map_builder.lua' for 'map_builder.lua'.
I0707 18:23:59.831148 38017 configuration_file_resolver.cc:41] Found '../configuration_files/pose_graph.lua' for 'pose_graph.lua'.
I0707 18:23:59.831159 38017 configuration_file_resolver.cc:41] Found '../configuration_files/pose_graph.lua' for 'pose_graph.lua'.
I0707 18:23:59.831281 38017 configuration_file_resolver.cc:41] Found '../configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
I0707 18:23:59.831324 38017 configuration_file_resolver.cc:41] Found '../configuration_files/trajectory_builder.lua' for 'trajectory_builder.lua'.
I0707 18:23:59.831358 38017 configuration_file_resolver.cc:41] Found '../configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
I0707 18:23:59.831369 38017 configuration_file_resolver.cc:41] Found '../configuration_files/trajectory_builder_2d.lua' for 'trajectory_builder_2d.lua'.
I0707 18:23:59.831476 38017 configuration_file_resolver.cc:41] Found '../configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
I0707 18:23:59.831511 38017 configuration_file_resolver.cc:41] Found '../configuration_files/trajectory_builder_3d.lua' for 'trajectory_builder_3d.lua'.
F0707 18:23:59.831945 38017 lua_parameter_dictionary.cc:399] Check failed: HasKey(key) Key 'intensity_threshold' not in dictionary:
{
hit_probability = 0.550000,
miss_probability = 0.490000,
num_free_space_voxels = 2.000000,
}
*** Check failure stack trace: ***
Aborted (core dumped)

Hi!

Can I somehow use Lidar data instead of radar data to use this? Also, do I need the imu data because the only thing I have is raw Lidar data.

Thanks!

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