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ros的地图坐标系和cartographer的地图坐标系是否写反了？ #1

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navrobot opened this issue Feb 18, 2022 · 0 comments

navrobot commented Feb 18, 2022

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

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