Thank you for your open source project, it really help me a lot!!!!!!
I have a question about use vgicp-gpu factor in localization mode.
I build a big map with huge size points.
I load it and recompute the cov to get a voxelmap,
when i got a new frame with initial pose, i create a vgicp-gpu factor as u in glim.
Code: gtsam::make_shared<gtsam_points::IntegratedVGICPFactorGPU>(fixed_target_pose, source_key, voxelmap, source->frame, stream, buffer);
you know this voxelmap is very huge, if we have an accurate initial pose, of course we do not need the full points or the full voxelmap.
So I want to ask, how could we use an variable to specify the point cloud range to be used during this factor creation.
I try to filter the origin pointcloud and cov each time and rebuilt the voxelmap but it is too slowly.
Thank you for your open source project, it really help me a lot!!!!!!
I have a question about use vgicp-gpu factor in localization mode.
I build a big map with huge size points.
I load it and recompute the cov to get a voxelmap,
when i got a new frame with initial pose, i create a vgicp-gpu factor as u in glim.
Code: gtsam::make_shared<gtsam_points::IntegratedVGICPFactorGPU>(fixed_target_pose, source_key, voxelmap, source->frame, stream, buffer);
you know this voxelmap is very huge, if we have an accurate initial pose, of course we do not need the full points or the full voxelmap.
So I want to ask, how could we use an variable to specify the point cloud range to be used during this factor creation.
I try to filter the origin pointcloud and cov each time and rebuilt the voxelmap but it is too slowly.