Have you still figure out this pkg?

Hi, it's glad to see you pkg here, recent I also try to find a way to solve the lidar curb detection and serach a few pkg, 
but in KITTI datset, maybe there have more dynamic objects , so beam model and curb features can't get a good performance,
so can you test your code with KITTI dataset?  And how to improve the feature detection method?
Thank you to share your code here,
bese wishes!