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gisbi-kim / SC-LIO-SAM

LiDAR-inertial SLAM: Scan Context + LIO-SAM
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Feel confused about loopFindNearKeyframesWithRespectTo() function #18

Open zxjhit opened 2 years ago

zxjhit commented 2 years ago

Hi,thank you for your nice job for the community first. However, I feel confused about the function loopFindNearKeyframesWithRespectTo you defined. tp 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], &copy_cloudKeyPoses6D->points[_wrt_key]);The cloud is not in the same frame at all, how can they "+"?

Sunshinehaozi commented 2 years ago

I have the same confusion as you.Do you solve it?

shallowlife commented 9 months ago

I have the same confusion,bro