comments

[robotics-dev-0101]

Hi,

Thanks a lot for sharing this code! it is very well written and the results of the SLAM when the code is executed are amazing :)

I was wondering if you could comment your code because now I am reading it and some things are not clear directly, so I am trying to go through the code line by line to understand what why you've done it this way. The general idea is very clear however.

It would be great if you can comment these functions:

In ScanMatcher_OGBased.py
frameSearchSpace()
matchScan()
searchToMatch(), her you are looping only over theta, should you loop inside this loop over x and y to find the best combination in the search space?
some variables are not clear like: rv and rrv, could you please clarify what these are?

In generateProbSearchSpace() it is not clear why you do this: probSP[probSP > 0.5 * probMin] = 0, I didn't what you are doing in generateProbSearchSpace()

In OccupancyGrid.py
expandOccupancyGridHelper(self, position, axis):

Thanks again for this amazing piece of code!

[deveshdatwani]

@robotics-dev-0101 I am going to start reading the code. Did you figure it out finally?

[shan83kalai]

@xiaofeng419 Thanks lot sharing code. could please explain how or from where did you get intel.gfs file in the raw directory?