LC Transformation Refinement and Local Map

[robofar]

Hello. Thank you for your work, really nice paper and organized code. I was reading part of paper related to LC detection and its transformation refinement. In paper it is said:

But in the code in main.py (Line 317), local map is reset around (as I understand) C_t (estimated from initial transformation of LC detector) which is current frame, instead of C_k (which is loop-candidate frame).

Please can you clarify this? Thanks