Gtsam optimization did not work

RobustFieldAutonomyLab / LeGO-LOAM

LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

BSD 3-Clause "New" or "Revised" License

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Gtsam optimization did not work #113

Closed mutou-2015 closed 4 years ago

mutou-2015 commented 5 years ago

@TixiaoShan , hi Shan, I found Gtsam optimization did not work when I test your code with Stevens-VLP16-Dataset. The value of transformAftMapped was printed as follow, 222 111 There is no difference between the pre-optimization and the optimized values.Can you explain my doubts？Thanks.

jxhstrive commented 5 years ago

@mutou-2015 Hi, I also met the same problem. The optimized values were not changed. I have set loopClosureEnableFlag the value is true. Has the problem been solved? Thank you very much for your communication and discussion.

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