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If I understand what you're after, you just want to use point cloud data and ICP to generate odometry messages. You shouldn't need to do any scene reconstruction for this; just take in the PointCloud2 messages, pass them into pcl's ICP algorithm (example here, get the resulting transform, fill out an odometry message, and publish. Or are you saying you want to do both scene reconstruction and odometry estimation?
| | 2 | No.2 Revision |
If I understand what you're after, you just want to use point cloud data and ICP to generate odometry messages. You shouldn't need to do any scene reconstruction for this; just take in the PointCloud2 messages, pass them into pcl's ICP algorithm (example here, ), get the resulting transform, fill out an odometry message, and publish. Or are you saying you want to do both scene reconstruction and odometry estimation?
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