missing code

[SlamCabbage]

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

Lines 698 to 710 in d43ca00

	void performSCLoopClosure()
	{
	if (cloudKeyPoses3D->points.empty() == true)
	return;
	// find keys
	auto detectResult = scManager.detectLoopClosureID(); // first: nn index, second: yaw diff
	int loopKeyCur = copy_cloudKeyPoses3D->size() - 1;;
	int loopKeyPre = detectResult.first;
	float yawDiffRad = detectResult.second; // not use for v1 (because pcl icp withi initial somthing wrong...)
	if( loopKeyPre == -1 /* No loop found */)
	return;

Missing assignments to copy_cloudKeyPoses6D, copy_cloudKeyPoses2D, and copy_cloudKeyPoses3D lead to errors at runtime.

In the previous code is:

        mtx.lock();
        *copy_cloudKeyPoses3D = *cloudKeyPoses3D;
        copy_cloudKeyPoses2D->clear();            // giseop
        *copy_cloudKeyPoses2D = *cloudKeyPoses3D; // giseop
        *copy_cloudKeyPoses6D = *cloudKeyPoses6D;
        mtx.unlock();