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In MapCloudDisplay, every time we receive a new graph, we also update poses of all clouds created so far. This is because when a loop closure happen, the graph may be deformed to correct the odometry drift. If you only updating the last cloud added to map, you won't have map corrections in your map.

  • nodes[id].pose: raw odometry pose
  • graph.poses[id]: optimized pose (including loop closure correction)

In MapCloudDisplay, every time we receive a new graph, we also update poses of all clouds created so far. This is because when a loop closure happen, the graph may be deformed to correct the odometry drift. If you only updating update the last cloud added to map, you won't have map corrections in your map.

  • nodes[id].pose: raw odometry pose
  • graph.poses[id]: optimized pose (including loop closure correction)