pass the mapping result back as a start position for odometry?

[antithing]

Hi, and thanks for making this code available. I am using it in windows, without ROS, and am looking at multi threading it to improve speed. It seems it would be good to pass the result of mapping back to Odometry as a new start position, to keep them more in line.

What does the odometry use as its start position when it receives a new cloud? Can i pass a new transform instead? Would you be able to point me in the right direction for doing this? Thanks!