Open zxd123 opened 2 years ago
https://github.com/gisbi-kim/FAST_LIO_SLAM/blob/b5e7eba548f478540f0bacd90ec35ee671054da4/SC-PGO/src/laserPosegraphOptimization.cpp#L412 Hi, I guess the build of the submap should be nearKeyframes += local2global(keyframeLaserClouds[keyNear], keyframePosesUpdated[keyNear]); Because the idx of the keyframeLaserClouds and the keyframePosesUpdated need to be consistent. Now it is nearKeyframes += local2global(keyframeLaserClouds[keyNear], keyframePosesUpdated[root_idx]);
https://github.com/gisbi-kim/FAST_LIO_SLAM/blob/b5e7eba548f478540f0bacd90ec35ee671054da4/SC-PGO/src/laserPosegraphOptimization.cpp#L412 Hi, I guess the build of the submap should be nearKeyframes += local2global(keyframeLaserClouds[keyNear], keyframePosesUpdated[keyNear]); Because the idx of the keyframeLaserClouds and the keyframePosesUpdated need to be consistent. Now it is nearKeyframes += local2global(keyframeLaserClouds[keyNear], keyframePosesUpdated[root_idx]);