try to set init pose by lidar odometry

[leechangyo]

Hi!

Thank you for your great work, I really enjoy and have fun with that on my project.

I have a 3d point cloud map constructed by lidar and I have a global localization module which is we loaded 3d point cloud map at somewhere and find a localization pose by scan matching. and start Localization.

what I want to do is set the pose of global localization to the init pose of your project and start its visual odometry.

I tried to do this work but because of my weak math knowledge, I m struggling with it.

can you point out where should I look and any recommendations?

thank you!

have a nice day.