Use keyframe to make pointcloud

[huonggiangdhtn]

I use keyframe to make pointcloud, but the result seem have some error at the pose. Can you show me what wrong? This is code where I generate pointcloud: SE3 T1 = kf->Pose(); PointCloud::Ptr cloud(new PointCloud); pcl::transformPointCloud( *tmp, *cloud, T1.inverse().matrix());

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