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Question about pose #6

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smalltheater opened this issue Jul 20, 2022 · 0 comments

smalltheater commented Jul 20, 2022

Hello author,
Thank you for sharing your great work. I want to know why the pose here is to (0,0,0)

lt-mapper/ltslam/src/LTslam.cpp

Line 239 in 784f63e

    
           gtsam::Pose3 poseTo = Pose3(Rot3::RzRyRx(0.0, 0.0, 0.0), Point3(0.0, 0.0, 0.0));

but the pose for RS loop is different

lt-mapper/ltslam/src/LTslam.cpp

Line 298 in 784f63e

    
           gtsam::Pose3 poseTo = pclPointTogtsamPose3(target_sess.cloudKeyPoses6D->points[loop_idx_target_session]);

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