create georerenced map with gps coordinates for each map point

[stah-ba]

@TixiaoShan since the other issue is already closed: could you elaborate a little more on the possibility to add the gps coordinate to each point in the map? I would like to have a map in utm coordinates. I started as you suggested above, but i get the gps position only each few meters and it is inserted to the factor graph for optimizatiion. Can i get the information afterwards for each point from the optimized position also as a global gps position?

One way to do this is create another keyframe copy similar to

vector<pcl::PointCloud<PointType>::Ptr> cornerCloudKeyFrames;

vector<pcl::PointCloud<PointType>::Ptr> surfCloudKeyFrames;

Instead of saving points coordinate in the local frame, you can use a new copy to save GPS coordinates for each point.

Originally posted by @TixiaoShan in #118