Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
Hi, I am recently reading the source code of cartographer. I here have a question in cartographer/mapping/internal/2d/scan_matching/occupied_space_cost_function_2d.cc shown below.
Hi, I am recently reading the source code of cartographer. I here have a question in
cartographer/mapping/internal/2d/scan_matching/occupied_space_cost_function_2d.ccshown below.https://github.com/cartographer-project/cartographer/blob/b8228ee6564f5a7ad0d6d0b9a30516521cff2ee9/cartographer/mapping/internal/2d/scan_matching/occupied_space_cost_function_2d.cc#L58-L61
I am wondering why both x and y index need to - 0.5? For anyone who can help to answer, thanks ahead!