Closed Tina1994 closed 2 years ago
Can confirm this is correct.
Can confirm this is correct.
Thanks for you reply, are you mean my explain is correct? I am a beginner, so if you mean the source code is correct, please explain the reason. Thanks again.
Sorry for not being clear, you are correct. The keyframes need to be transformed into the same global frame.
*nearKeyframes += * local2global(keyframeLaserClouds[keyNear], keyframePosesUpdated[keyNear]);
Thanks for you reply, are you mean my explain is correct? I am a beginner, so if you mean the source code is correct, please explain the reason. Thanks again.
Sorry for not being clear, you are correct. The keyframes need to be transformed into the same global frame.
*nearKeyframes += * local2global(keyframeLaserClouds[keyNear], keyframePosesUpdated[keyNear]);
Thanks for you reply, are you mean my explain is correct? I am a beginner, so if you mean the source code is correct, please explain the reason. Thanks again.
Thanks you very much! I 'll modify the error in downloaded source code and close this question.
Hi, thanks for your contribution. I have same question same as the question https://github.com/gisbi-kim/SC-A-LOAM/issues/7 However, I think the code still have something wrong, the code in the repo is as:
where nearKeyframes += local2global(keyframeLaserClouds[keyNear], keyframePosesUpdated[root_idx]) should be:
The target of the function “loopFindNearKeyframesCloud ” is transforming the nearby keyframe point cloud stored in keyframeLaserClouds from thr Lidar coordinate to the world coordinate, to form a submap in _loop_kf_idx, so I think local2global should be the tranformation stored in keyframePosesUpdated[keyNear].