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hku-mars / HBA

[RAL 2023] A globally consistent LiDAR map optimization module
GNU General Public License v2.0
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The code for fixing the first pose #11

Closed wwtinwhu closed 1 year ago

wwtinwhu commented 1 year ago

Hello, @samsdolphin . I re-write a local BA toy. However, after optimization, the first pose is not fixed. Could you tell me where the code to fix the first pose of local BA in HBA? Thanks!

wwtinwhu commented 1 year ago

The trick is to minus the first pose for the every pose after the optimization.