# cartographer 超详细注释

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

• #### 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
``````

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？

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

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