点云重定位: https://github.com/asdfghjkl623/long-term-localization/blob/866800a7b104d2eb7f477f4713a3aeaec930bdcf/src/relocalization/semantic_cluster_map.h https://github.com/Zhang-Ziyong/work/blob/93ca24561caa55d6fa87f95558e0b9dd9818a391/CVTElidar_3D/lidar_slam/slam_core/system/system.cpp