pop_up_slam
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find_2d_3d_closed_polygon
Hello What does this code mean “vertical_3d_world.col(0) = temp_vertex; //.row(line_ind).segment<3>(pt_ind*3); vertical_3d_world.col(1) = temp_vertex + Vector3f(0, 0, 2);” When searching for the direction of hitting upwards or downwards in the find_2d_3d_closed_polygon.