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.

src/laserPosegraphOptimization.cpp

@@ -478,7 +478,7 @@ void loopFindNearKeyframesCloud( pcl::PointCloud<PointType>::Ptr& nearKeyframes,
             continue;
 
         mKF.lock(); 
-        *nearKeyframes += * local2global(keyframeLaserClouds[keyNear], keyframePosesUpdated[root_idx]);
+        *nearKeyframes += * local2global(keyframeLaserClouds[keyNear], keyframePosesUpdated[keyNear]);
         mKF.unlock(); 
     }