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Hi Shan,
When I tried changing transformSum[] in the code, map building became worse.
Should I change other things more in the code?
The initial pose did not start from origin pose as I wanted, however, the result was like this.
If I remove "transformSum[]" things what I added, the result was no problem.
I found that if I set the initial pose far from the origin, map drifting was being more.
In my case, when I set like this, it works: transformSum[3] = 10 transformSum[5] = 10
However, when I set like far from the origin like this, it does not work: transformSum[3] = 100 transformSum[5] = 100
Is there any way we can provide an initial pose to the method?
Thank you in advance for the help!
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