Hi,I am reading the blam_slam source code, in blam_slam package BlamSlam.cc ProcessPointCloudMessage function before you perform MeasurementUpdate you transform the map points to sensor frame. Why not perform the icp in fixed frame? In this way, you just need transform the incremental estimate to sensor frame and do not need transform the points, it is more efficient, isn't it?
Hi,I am reading the blam_slam source code, in blam_slam package BlamSlam.cc ProcessPointCloudMessage function before you perform MeasurementUpdate you transform the map points to sensor frame. Why not perform the icp in fixed frame? In this way, you just need transform the incremental estimate to sensor frame and do not need transform the points, it is more efficient, isn't it?