Open stevenyslins opened 7 years ago
Dear all,
Thanks to share this code which I can run it to generate 2D grid map. I have some question about ros_mono_sub.cc, Does there have reference that I can refer to grid map algorithm? Because some of code I cannot understand what it is doing, such as
void updateGridMap { .... kf_pos_x = kf_location.x*scale_factor; kf_pos_z = kf_location.z*scale_factor; kf_pos_grid_x = int(floor((kf_pos_x - grid_min_x) * norm_factor_x)); kf_pos_grid_z = int(floor((kf_pos_z - grid_min_z) * norm_factor_z)); if (kf_pos_grid_x < 0 || kf_pos_grid_x >= w) return; if (kf_pos_grid_z < 0 || kf_pos_grid_z >= h) return; }
Thanks for your help.
The related report is attached here. 2d-grid-mapping.pdf
Dear all,
Thanks to share this code which I can run it to generate 2D grid map. I have some question about ros_mono_sub.cc, Does there have reference that I can refer to grid map algorithm? Because some of code I cannot understand what it is doing, such as
Thanks for your help.