getSubmapKeyframes() about direct_lidar_odometry

[kennyjchen]

Hi @narutojxl -- thanks for your interest in our work!

Great catch -- the indices should be extracted from the original list of convex/concave keyframes (rather than from the distance vector). Your second point is also correct in that we should be using the most current positional estimate during the search (although in practice this difference is most likely negligible).

Thanks for the keen eye! We've fixed both of these bugs in v1.3.0 and have credited you accordingly. Let us know if there are any other issues.

[narutojxl]

Thanks author, close now.