(02) Cartographer source code analysis without dead ends - (61) 2D backend optimization→ - Code World

(02) Cartographer source code analysis without dead ends - (61) 2D backend optimization→

Enterprise 2023-05-18 01:58:02 views: null

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Origin blog.csdn.net/weixin_43013761/article/details/130723891

(02) Cartographer source code analysis without dead ends - (61) 2D backend optimization→

(02) Cartographer source code analysis without dead ends - (64) 2D backend optimization → ConstraintBuilder2D, MaybeAddConstraint, MaybeAddGlobalConstraint

(02) Cartographer source code analysis without dead ends - (71) 2D backend optimization→OptimizationProblem2D::Solve() - Optimization preparation, parameter block

(02) Cartographer source code analysis without dead ends - (58) 2D backend optimization → PoseGraph2D::AddNode(), PoseGraph2D::AppendNode()

(02) Cartographer source code analysis without dead ends - (63) 2D backend optimization → PoseGraph2D::ComputeConstraint() calculation constraints

(02) Cartographer source code analysis without dead ends - (67) 2D backend optimization → FastCorrelativeScanMatcher2D - branch and bound algorithm (BranchAndBound) 1

(02) Analysis of Cartographer source code without dead ends - (46) 2D grid map → RayToPixelMask() and Bresenham algorithm

(02) Cartographer source code analysis without dead ends - (61) 2D backend optimization→

(02) Cartographer source code analysis without dead ends-(82) Trajectory end processing Node::FinishTrajectoryUnderLock(), last optimization RunFinalOptimization()

(02) Cartographer source code analysis without dead ends - (49) 2D point cloud scan matching → correlation violence matching 1: SearchParameters

(02) Analysis of Cartographer source code without dead ends-(47) 2D grid map→overall process sorting and summary, and core key CastRays() explanation

(02) Cartographer source code analysis without dead ends-(79) ROS service→subgraph compression and service sending

(02) Cartographer source code analysis without dead ends-(84) LoadState trajectory map loading, ProtoStreamDeserializer explanation, SerializedData analysis

(02) Cartographer source code analysis without dead ends-(81) ROS grid map → service receiving submap, cairo image drawing detailed explanation, OccupancyGrid map release

(02) Cartographer source code without dead angle analysis-(76) ROS data release → 3D point cloud map, sub-image pose, Landmark

(02) Cartographer source code without dead angle analysis-(19) SensorBridge→radar point cloud data frame processing and coordinate system transformation (involving function overloading)

(02) No-dead-angle analysis of Cartographer code - (00) Catalog _ latest explanation of no-dead-end

(02) Cartographer source code analysis without dead ends-(81) ROS grid map → service receiving submap, cairo image drawing detailed explanation, OccupancyGrid map release

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