lidarOdomKNNError(pointcloud, pointcloud) pointcloud is the same?

[improve100]

hello,why lidarOdomKNNError pass the same argument?

float Aligner::lidarOdomKNNError(const Lidar& lidar) const {
Pointcloud pointcloud;
lidar.getCombinedPointcloud(&pointcloud);
return lidarOdomKNNError(pointcloud, pointcloud);
}

[LarryDong]

Hi, I guess this function may be modified from other uses. It can search KNN between 2 pointClouds if using 2 different arguments. Since in this code, pointCloud is construct using all scans from Bag, if the transform is correct (between scans), points in different scans from the same region should coincide. As a results, they added "++k" in this function. But I think ++k is not necessary.