cartographer work space with detailed comments

Overview

cartographer 超详细注释


基于2021.04.20日在github上下载的master的代码的注释版本, 会增加更规范、详细的注释, 包括:

1、增加关键地方的公式推导

2、难理解部分代码画图展示原理

3、原作者代码本身疑似/确定bug的说明

by lixiang

注释多数在 .cc 文件中, .h文件中存在cartographer原本的注释

Issues
  • GLOB_RECURSE 循环寻找 cartographer_ros/ 中的.cc 和.h 文件,然后存到ALL_SRCS这个变量中

    GLOB_RECURSE 循环寻找 cartographer_ros/ 中的.cc 和.h 文件,然后存到ALL_SRCS这个变量中

    # TODO: GLOB_RECURSE 循环寻找 cartographer_ros/ 中的.cc 和.h 文件,然后存到ALL_SRCS这个变量中
    

    https://github.com/xiangli0608/cartographer_detailed_comments_ws/blob/4a4b37ef900788ce102d13e446e036573c1612b5/src/cartographer_ros/cartographer_ros/CMakeLists.txt#L93

    opened by xiaojiang-li 0
  • ros的地图坐标系和cartographer的地图坐标系是否写反了?

    ros的地图坐标系和cartographer的地图坐标系是否写反了?

    map_limits.h文件中

    • ros的地图坐标系 cartographer的地图坐标系 cartographer地图的像素坐标系
    • ^ y ^ x 0------> x
    • | | |
    • | | |
    • 0 ------> x y <------0 y
    • ros的地图坐标系: 左下角为原点, 向右为x正方向, 向上为y正方向,
    • 角度以x轴正向为0度, 逆时针为正 cartographer的地图坐标系: 坐标系右下角为原点,
    • 向上为x正方向, 向左为y正方向 角度正方向以x轴正向为0度, 逆时针为正
    • cartographer地图的像素坐标系: 左上角为原点, 向右为x正方向, 向下为y正方向
    opened by navrobot 0
Owner
xiangli
公众号:从零开始搭SLAM
xiangli
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