{"action":"closed","issue":{"url":"https://api.github.com/repos/googlecartographer/cartographer/issues/127","repository_url":"https://api.github.com/repos/googlecartographer/cartographer","labels_url":"https://api.github.com/repos/googlecartographer/cartographer/issues/127/labels{/name}","comments_url":"https://api.github.com/repos/googlecartographer/cartographer/issues/127/comments","events_url":"https://api.github.com/repos/googlecartographer/cartographer/issues/127/events","html_url":"https://github.com/googlecartographer/cartographer/issues/127","id":189766855,"number":127,"title":"about the global loop-closure optimization between sub-maps","user":{"login":"gogofight","id":9596616,"avatar_url":"https://avatars.githubusercontent.com/u/9596616?v=3","gravatar_id":"","url":"https://api.github.com/users/gogofight","html_url":"https://github.com/gogofight","followers_url":"https://api.github.com/users/gogofight/followers","following_url":"https://api.github.com/users/gogofight/following{/other_user}","gists_url":"https://api.github.com/users/gogofight/gists{/gist_id}","starred_url":"https://api.github.com/users/gogofight/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/gogofight/subscriptions","organizations_url":"https://api.github.com/users/gogofight/orgs","repos_url":"https://api.github.com/users/gogofight/repos","events_url":"https://api.github.com/users/gogofight/events{/privacy}","received_events_url":"https://api.github.com/users/gogofight/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":{"login":"damonkohler","id":191389,"avatar_url":"https://avatars.githubusercontent.com/u/191389?v=3","gravatar_id":"","url":"https://api.github.com/users/damonkohler","html_url":"https://github.com/damonkohler","followers_url":"https://api.github.com/users/damonkohler/followers","following_url":"https://api.github.com/users/damonkohler/following{/other_user}","gists_url":"https://api.github.com/users/damonkohler/gists{/gist_id}","starred_url":"https://api.github.com/users/damonkohler/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/damonkohler/subscriptions","organizations_url":"https://api.github.com/users/damonkohler/orgs","repos_url":"https://api.github.com/users/damonkohler/repos","events_url":"https://api.github.com/users/damonkohler/events{/privacy}","received_events_url":"https://api.github.com/users/damonkohler/received_events","type":"User","site_admin":false},"assignees":[{"login":"damonkohler","id":191389,"avatar_url":"https://avatars.githubusercontent.com/u/191389?v=3","gravatar_id":"","url":"https://api.github.com/users/damonkohler","html_url":"https://github.com/damonkohler","followers_url":"https://api.github.com/users/damonkohler/followers","following_url":"https://api.github.com/users/damonkohler/following{/other_user}","gists_url":"https://api.github.com/users/damonkohler/gists{/gist_id}","starred_url":"https://api.github.com/users/damonkohler/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/damonkohler/subscriptions","organizations_url":"https://api.github.com/users/damonkohler/orgs","repos_url":"https://api.github.com/users/damonkohler/repos","events_url":"https://api.github.com/users/damonkohler/events{/privacy}","received_events_url":"https://api.github.com/users/damonkohler/received_events","type":"User","site_admin":false}],"milestone":null,"comments":5,"created_at":"2016-11-16T16:47:21Z","updated_at":"2016-11-18T10:57:45Z","closed_at":"2016-11-18T10:57:45Z","body":"I think the global loop-closure optimization algorithm has an not small problem and bug in practical application , because it will lead to the entire map mapping errors and useless !\r\n\r\nI will upload my bag file, some can download it to test for datails."}}
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