Adaptation of https://github.com/PRBonn/kiss-slam

Allows for usage of KissSLAMConfig with added keypose and pcdPath attributes:

prevConfig = KissSlamConfig()
prevConfig.pcdPath = "pcd/path/from/cwd"
prevConfig.keypose = np.eye(4)

OR these can be updated via .yaml file (as they are in the current navigator lidar_SLAM package)

The keypose is the initial pose determined by the mapping nodes and defaults to the identity matrix.

pcdPath is the path from current working directory (directory in which kiss-slam is called) to the pointcloud file and defaults to an empty string in which case kiss_slam functions normally.

If pcdPath is set to a valid location, the map is loaded and added to the loop closer as an initial map with index -5. The negative index tells MapClosures to use a differently-sized cv.ORB feature extractor for the global map.

The output maps still need to be overlayed with each other as well as the initial map after completion - the passing in of an initial map only serves to increase mapping accuracy.

Contact Aditya Pulipaka: adipu@utexas.edu for any specific questions about these modifications.