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cartographer-project / cartographer

Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
Apache License 2.0
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Ceres Initial Pose during Local SLAM #1821

Open rxiang040 opened 3 years ago

rxiang040 commented 3 years ago

Hi, thanks very much for these great project. I found a confusing place in local_trajectory_builder_2d.cc line 86 that

  ceres_scan_matcher_.Match(pose_prediction.translation(), initial_ceres_pose,
                            filtered_gravity_aligned_point_cloud,
                            *matching_submap->grid(), pose_observation.get(),
                            &summary);

Why we are using pose_prediction.translation() but not initial_ceres_pose.translation()? If I looked into .Match the last two residuals are used for regularization, right? If so, should it be using initial_ceres_pose.translation()?

Thanks very much for you time:)