This an extended version of SegMap system that uses intensity images synthesized from LiDAR measurement to improve segment description.
J. Wietrzykowski, P. Skrzypczyński, On the descriptive power of LiDAR intensity images for segment-based loop closing in 3-D SLAM, 2021
For installation instructions consult the original SegMap repository.
Modify CMakeLists.txt:
target_link_libraries(segmapper_node /opt/conda/lib/libfreetype.so.6 fontconfig harfbuzz ${PROJECT_NAME})