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base PCD map location? #70
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You can essentially edit the code so that it loads in a PCD, sets it as the first (and only) keyframe, and disables tracking of subsequent keyframes. |
Thank you very much for your reply! Terminate called after throwing an instance of 'ros::serialization::StreamOverrunException' here is my code change: ` void dlio::OdomNode::buildSubmap(State vehicle_state) { pcl::io::loadPCDFile("/home/lan/ouster_zijin.pcd", *tmp_map_cloud); this->submap_kdtree = this->gicp_temp.target_kdtree_; ` only build submap use once here ` // Set initial frame as first keyframe
} Thank you very much for taking the time to review this code and problem |
If we have a PCD map, can we use this code to make a location based on the PCD map?
If possible, how do we need to modify this code
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