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Fix raytracing origin #2

Merged
merged 1 commit into from
Apr 26, 2022
Merged

Fix raytracing origin #2

merged 1 commit into from
Apr 26, 2022

Commits on Aug 13, 2021

  1. Fix raytracing origin 

    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]>
    @ValerioMagnago
    ValerioMagnago committed Aug 13, 2021
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