From 6bc5e3b15ba5752d59cec1a04cf3ca08c97e440c Mon Sep 17 00:00:00 2001
From: huawei-sai <120198289+huawei-sai@users.noreply.github.com>
Date: Mon, 30 Jan 2023 15:57:57 +0100
Subject: [PATCH] Bug in creating reference pointcloud for ICP registration

This bug has been already highlighted and well explained in these two links.
https://github.com/gisbi-kim/SC-A-LOAM/issues/11
https://github.com/gisbi-kim/SC-A-LOAM/issues/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 | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/laserPosegraphOptimization.cpp b/src/laserPosegraphOptimization.cpp
index ce1a896..95765ca 100644
--- a/src/laserPosegraphOptimization.cpp
+++ b/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(); 
     }