How would Lt-mapper work with a ground truth 3D map?

[Miguel A. Vega Torres]

Hi @gisbi-kim,

thank you for your awesome work, you really inspire me with all your cool open-source projects!

I have rather more a conceptual question, but I think is very suitable for this repo, therefore I am creating this issue.

If I understand correctly LT-Mapper works based on the assumption that you have several multi-session data which are then aligned together, without considering any ground truth map.

What happens if you do have a ground truth map, e.g. from an accurate TLS scanner. With only a 3D point cloud as a reference can one still leverage LT-Mapper to align the multi-session data in a globally consistent map?

I think this is only possible if we have session data generation from the 3D ground truth map (which, I think, would increase the size of the ground truth data), am I right?