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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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Motion filter working #1915

Open Srichitra-S opened 1 year ago

Srichitra-S commented 1 year ago 
A scan is inserted into the current submap only if its motion is above a certain distance, angle or time threshold​.
How is this distance determined? From lidar odometry? 
in which file is the code implementation for this
georgflick commented 11 months ago

It's coded here: https://github.com/cartographer-project/cartographer/blob/ef00de2317dcf7895b09f18cc4d87f8b533a019b/cartographer/mapping/internal/motion_filter.cc#L46