How to incorporate other point cloud registration methods into this SLAM framework?

koide3 / hdl_graph_slam

3D LIDAR-based Graph SLAM

BSD 2-Clause "Simplified" License

1.94k stars 723 forks source link

How to incorporate other point cloud registration methods into this SLAM framework? #221

Closed zxl19 closed 2 years ago

zxl19 commented 2 years ago

Hi @koide3 ! Thank you for your excellent work! I am trying to incorporate other point cloud registration methods (e.g. MIT-SPARK/TEASER-plusplus) into this framework to improve front-end accuracy. I am reading your FastGICP class and trying to follow that as a convention. Could you please give me some hints on how to achieve that?

Best regards.