why not transform feature points to the scan end point

[zorosmith]

Hello, thank you for your great work! I found that you disenabled the operation to transform corner features and plane features to the scan end point. I enabled this operation and run the project again. However, I found nothing changed. Maybe I missed something. Could you tell me why would you disenable this operation?

[wwtinwhu]

I suppose it depends on the scan has distortion or not. If has no distortion, like kitti data, disenable.