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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laser ray trace maybe bug #1839

Open shamengjun opened 3 years ago

shamengjun commented 3 years ago

Hello,everyone: When I use cartographer mapping, there maybe laser ray trace occur some stranges, as follows piture: Selection_027 Why the points behind of the box is hit and the yellow part is mapped while the other box is normal? But use gmapping this is normal and correct, the result is: Selection_029 Can anyone give one explanation ? and how can I fix this bug in cartographer?

shamengjun commented 3 years ago

my configure about laser insert is: TRAJECTORY_BUILDER_2D.min_range = 0.5, TRAJECTORY_BUILDER_2D.max_range = 20, TRAJECTORY_BUILDER_2D.missing_data_ray_length = 10. and I don't understand this and my problem diffenrences?

1354

ibuterin commented 3 years ago

Hi, this is an open issue. It is explained in https://github.com/cartographer-project/cartographer/issues/947#issuecomment-519870583

shamengjun commented 3 years ago

@ibuterin thanks, that is to say this is one cartographer self bug.

MichaelGrupp commented 3 years ago

We are working on a solution for this. Yes, it's a bug.