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Hi @LiQiaopeng-1995,
this package is about mapping only. It does not contain any global optimization. If you want to try SLAM with our maps, there are scan-to-map matching functions implemented in the cslibs_ndt package that you can use e.g. with the ceres optimizer.
Showed in this png,the long corridor doesn't match well.
How do I add loop closure detect into this package.
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