Problems during calculation of loop constraints

[SlamCabbage]

SC-LIO-SAM/SC-LIO-SAM/src/mapOptmization.cpp

Lines 670 to 683 in d43ca00

	float x, y, z, roll, pitch, yaw;
	Eigen::Affine3f correctionLidarFrame;
	correctionLidarFrame = icp.getFinalTransformation();
	// transform from world origin to wrong pose
	Eigen::Affine3f tWrong = pclPointToAffine3f(copy_cloudKeyPoses6D->points[loopKeyCur]);
	// transform from world origin to corrected pose
	Eigen::Affine3f tCorrect = correctionLidarFrame * tWrong;// pre-multiplying -> successive rotation about a fixed frame
	pcl::getTranslationAndEulerAngles (tCorrect, x, y, z, roll, pitch, yaw);
	gtsam::Pose3 poseFrom = Pose3(Rot3::RzRyRx(roll, pitch, yaw), Point3(x, y, z));
	gtsam::Pose3 poseTo = pclPointTogtsamPose3(copy_cloudKeyPoses6D->points[loopKeyPre]);
	gtsam::Vector Vector6(6);
	float noiseScore = icp.getFitnessScore();
	Vector6 << noiseScore, noiseScore, noiseScore, noiseScore, noiseScore, noiseScore;
	noiseModel::Diagonal::shared_ptr constraintNoise = noiseModel::Diagonal::Variances(Vector6);

On line 676 in mapOptmization.cpp, the code uses
Eigen::Affine3f tCorrect = correctionLidarFrame * tWrong;
As I understand it, if the current pointcloud is used as the source and the loop pointcloud is used as the target in ICP, then the resulting pose transformation should be $T_{correct}^{wrong}$, which should be in the form of right multiplication.
tWrong is $T_{wrong}^{world}$ ,
tCorrect is $T_{correct}^{world}$ .
we can launch:
$T_{correct}^{world} = T_{wrong}^{world} \cdot T_{correct}^{wrong}$
Eigen::Affine3f tCorrect = tWrong * correctionLidarFrame;

Sorry for taking up your time, could you help me with my doubts?