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                                            fls1995

maybe the direction of loop constraint is reserve

https://github.com/gisbi-kim/FAST_LIO_SLAM/blob/10eab538db70678f41aaa24247d16831ca921374/SC-PGO/src/laserPosegraphOptimization.cpp#L472-L477 In _loop_kf_idx local coordinate system, PoseFrom is the origin of _curr_kf_idx, and PoseTo is the origin of _loop_kf_idx. So the return should be _curr_kf_idx.between(_loop_kf_idx). But in line 689, the...