base PCD map location?

[lonlonago]

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

[kennyjchen]

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.

[lonlonago]

Thank you very much for your reply!
Yes, I did, but the odometer kept jumping and reported an error after running for a short period of time. The error message:

Terminate called after throwing an instance of 'ros::serialization::StreamOverrunException'

here is my code change:

`

void dlio::OdomNode::buildSubmap(State vehicle_state) {
// submap to whole map test
pcl::PointCloud::Ptr tmp_map_cloud (boost::make_shared<pcl::PointCloud>());

pcl::io::loadPCDFile("/home/lan/ouster_zijin.pcd", *tmp_map_cloud);
this->gicp_temp.setInputTarget(tmp_map_cloud);

this->submap_kdtree = this->gicp_temp.target_kdtree_;
this->submap_cloud = tmp_map_cloud;
this->submap_normals = this->gicp_temp.getTargetCovariances(); // getTargetCovariances
this->submap_kf_idx_prev = this->submap_kf_idx_curr;
}

`

only build submap use once here

`

// Set initial frame as first keyframe
if (this->keyframes.size() == 0) {
this->initializeInputTarget();
this->main_loop_running = false;
this->submap_future =
std::async( std::launch::async, &dlio::OdomNode::buildKeyframesAndSubmap, this, this->state );
this->buildSubmap(this->state); // only build submap use once here

this->submap_future.wait(); // wait until completion
return;

}
`

Thank you very much for taking the time to review this code and problem