Fix raytracing origin #2
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Adds the laser ray origin to `RangefinderPoint` to enable correct raytracing of range data misses into a 2D probability grid also after scan accumulation. Previously, all rays were casted from their hit point to the tracking frame. This is wrong for any setup where the tracking frame is not the sensor frame and leads to artifacts in the map. Fixes: cartographer-project#947 Signed-off-by: Valerio Magnago <[email protected]>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Adds the laser ray origin to
RangefinderPointto enablecorrect raytracing of range data misses into a 2D probability
grid also after scan accumulation.
Previously, all rays were casted from their hit point to the
tracking frame. This is wrong for any setup where the tracking
frame is not the sensor frame and leads to artifacts in the map.
Fixes: cartographer-project#947
Signed-off-by: Valerio Magnago [email protected]
Port of cartographer-project#1850 to ironox fork.