Comments (1)
Yeah, I think you are right. The change was introduced in this commit 4776de7
It should be:
Transform currentPoseInv = _optimizedPoses.at(signature->id()).inverse();
I think that most of the time it is rare that we get exact same likelihood for 2 nodes in the same proximity path, so the distance check after is ignored in general. I'll make the change though, as when it happens, the result is probably wrong.
EDIT: actually this would happen all the time in lidar-only SLAM (where there would be no likelihood). It doesn't matter too much which node on the proximity path is the main node for the link, though it is preferable to be the closest one. I t should be fixed by 7c601bb
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