Cartographer is a system that provides real-time simultaneous localization and mapping (SLAM) in 2D and 3D across multiple platforms and sensor configurations.
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Purpose of kPadding in OccupiedSpaceCostFunction2D #1950
Hello, I am presently examining algorithms and implementations related to scan matching.
During my review, I encountered a constant variable within the cost function OccupiedSpaceCostFunction2D. Specifically, the variable is kPadding found on line 69 in the cartographer/mapping/internal/2d/scan_matching/occupied_space_cost_function_2d.cc file. I have been unable to discern the purpose behind summing and subtracting this variable when accessing grid data. Does anyone have insights into the intended use or purpose of this variable?
Hello, I am presently examining algorithms and implementations related to scan matching.
During my review, I encountered a constant variable within the cost function OccupiedSpaceCostFunction2D. Specifically, the variable is kPadding found on line 69 in the cartographer/mapping/internal/2d/scan_matching/occupied_space_cost_function_2d.cc file. I have been unable to discern the purpose behind summing and subtracting this variable when accessing grid data. Does anyone have insights into the intended use or purpose of this variable?