Context

I'm interested in using Wavemap to accumulate a bunch of posed lidar scans, and subsequently query the map to yield "dense" ground-truth depth images.

Is there code / an example for this? It must be possible, since a rendered normal image is the teaser figure of the paper 😉

Requested feature

Broadly, one would likely implement this by doing some sort of ray-tracing over the voxels in the wavemap. If there is example code / suggested libraries, that would be helpful.

Additional context

Trying to generate dense ground-truth data to supervise a learned stereo depth estimator 😄 It doesn't need to be real-time, but something that doesn't take too long to generate a 320x240 image would be nice.