Using approach with non-Velodyne lidar

[iegorval]

Hello.

After going through the code, I am not sure how would I use the repo for non-Velodyne repo. It seems to accept only some pre-selected Velodyne-specific number of lines for the lidar (int N_SCANS = lidar_param.num_lines;).

What should be modified or configured for the usage with a non-Velodyne lidar with a different number of lines?

Is there a way to use only loop detection part based on the two lidar scans, without actually doing the mapping?