Fix raytracing origin #2
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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>
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Adds the laser ray origin to
RangefinderPointto enablecorrect 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
Port of cartographer-project#1850 to ironox fork.