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Fix raytracing origin #1850

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Fix raytracing origin #1850

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Commits on Apr 3, 2022

  1. Fix raytracing origin 

    Adds the laser ray origin to `RangefinderPoint` to enable
correct raytracing of range data misses into a 2D probability
grid also after scan accumulation.

Previously, all rays were casted from their hit point to the
tracking frame. This is wrong for any setup where the tracking
frame is not the sensor frame and leads to artifacts in the map.

Fixes: cartographer-project#947
Signed-off-by: Valerio Magnago <magnago@magazino.eu>
    @ValerioMagnago
    ValerioMagnago committed Apr 3, 2022
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  2. Fix tests 

    Before the origin of the RangefinderPoint was not always initialized.
This generate instable test results. This commit fixes this problem
by initializing properly the origin to (0,0,0).

Signed-off-by: Valerio Magnago <magnago@magazino.eu>
    @ValerioMagnago
    ValerioMagnago committed Apr 3, 2022
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  3. Fix RangefinderPoint comparison 

    Before the origin was not taken into account when comparing RangefinderPoint.
This commit add the comparison of the origin when comparing two RangefinderPoint.

Signed-off-by: Valerio Magnago <magnago@magazino.eu>
    @ValerioMagnago
    ValerioMagnago committed Apr 3, 2022
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