Open zxjhit opened 2 years ago
Hi,thank you for your nice job for the community first. However, I feel confused about the function loopFindNearKeyframesWithRespectTo you defined. In the loopFindNearKeyframesWithRespectTo function,copy_cloudKeyPoses6D->points[0] means the transfomation from the first LiDAR frame to World frame,i.e. Twl0,which is supposed to be Identity Matrix.So when you call loopFindNearKeyframesWithRespectTo(prevKeyframeCloud, loopKeyPre, historyKeyframeSearchNum, base_key);,what is the meaning of*nearKeyframes += *transformPointCloud(cornerCloudKeyFrames[keyNear], ©_cloudKeyPoses6D->points[_wrt_key]);The cloud is not in the same frame at all, how can they "+"?
loopFindNearKeyframesWithRespectTo
loopFindNearKeyframesWithRespectTo(prevKeyframeCloud, loopKeyPre, historyKeyframeSearchNum, base_key);
*nearKeyframes += *transformPointCloud(cornerCloudKeyFrames[keyNear], ©_cloudKeyPoses6D->points[_wrt_key]);
I have the same confusion as you.Do you solve it?
I have the same confusion,bro
Hi,thank you for your nice job for the community first. However, I feel confused about the function
In the
loopFindNearKeyframesWithRespectTo
you defined.loopFindNearKeyframesWithRespectTo
function,copy_cloudKeyPoses6D->points[0] means the transfomation from the first LiDAR frame to World frame,i.e. Twl0,which is supposed to be Identity Matrix.So when you callloopFindNearKeyframesWithRespectTo(prevKeyframeCloud, loopKeyPre, historyKeyframeSearchNum, base_key);
,what is the meaning of*nearKeyframes += *transformPointCloud(cornerCloudKeyFrames[keyNear], ©_cloudKeyPoses6D->points[_wrt_key]);
The cloud is not in the same frame at all, how can they "+"?