Sampson Yin

如何更换背景图片

1

想要把有带东西的背景图片去掉换成纯白的底色，文档中有提到背景去色，但是找不到source/css/base.styl这个文件。

IMU preintegration actually not used?

2

https://github.com/Gaochao-hit/LIO-SAM_based_relocalization/blob/b162b829660d34ab5968b47d4d1a12f23f54c0f1/src/globalLocalize.cpp#L463 Here, in`globalLocalize.cpp`, it seems that imu preintegration odometry for prior to lidar actually cannot be used because the code of lidar incremental pose has been deleted.

Hi, I want to know where I can give an initial pose on Rviz, I couldn't find it.