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Bug in creating reference pointcloud for ICP registration #22

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Bug in creating reference pointcloud for ICP registration #22

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Commits on Jan 30, 2023

  1. Bug in creating reference pointcloud for ICP registration 

    This bug has been already highlighted and well explained in these two links.
gisbi-kim#11
gisbi-kim#12
To check this - one can visualize the loop submap in RVIZ and can see the cluttered point cloud as it does not have correct registration.
    @huawei-sai
    huawei-sai committed Jan 30, 2023
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  2. change the loopFindNearKeyframesCloud function to be more clear 

    The function is also changed in the author's latest code base
https://github.com/gisbi-kim/lt-mapper/blob/bce4236d97bf0d9d97187f9355380e981ac7e499/ltslam/src/LTslam.cpp#L201

Basically loopFindNearKeyframesCloud function does not require the fourth input parameter that it initially had - it just creates more confusion and it never is used. Also while transforming the pointcloud to global coordinate frame (origin) and to accumulate surrounding frames, one does not need the fourth input parameter. Changed the function accordingly.
    @huawei-sai
    huawei-sai committed Jan 30, 2023
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