how to use cuNDT in loop efficiently

[PigBroA]

Dear all,

I'd like to use cuNDT for LiDAR Localization.

For real time processing, we need to initialize huge pointcloud to NDT Grid(such as Map, test_Q.pcd is on the role in demo code that you provide).

However, cudaNDT class set source and target cloud size using class constructor(to assign?), so I can't initialize the class object out of loop, I must declare it in loop, because source cloud is being changed every frame in loop. (cudaNDT is provided as ".so", I can't access member variable in cudaNDT class as well.)

Can I get original code of cuNDT? or please let me know how to ancor target cloud on out of loop(for LiDAR localization).

Thanks.