Feel confused about loopFindNearKeyframesWithRespectTo() function

[zxjhit]

Hi,thank you for your nice job for the community first. However, I feel confused about the function loopFindNearKeyframesWithRespectTo you defined.

In the loopFindNearKeyframesWithRespectTo function,copy_cloudKeyPoses6D->points[0] means the transfomation from the first LiDAR frame to World frame,i.e. Twl0,which is supposed to be Identity Matrix.So when you call loopFindNearKeyframesWithRespectTo(prevKeyframeCloud, loopKeyPre, historyKeyframeSearchNum, base_key);,what is the meaning of *nearKeyframes += *transformPointCloud(cornerCloudKeyFrames[keyNear], &copy_cloudKeyPoses6D->points[_wrt_key]);The cloud is not in the same frame at all, how can they "+"?

[Sunshinehaozi]

I have the same confusion as you.Do you solve it?

[shallowlife]

I have the same confusion,bro

[G4419]

same too