From 63fd497e0f61d0523380045c7b62d90ff3401d6d Mon Sep 17 00:00:00 2001 From: gaschler Date: Tue, 27 Feb 2018 15:28:35 +0100 Subject: [PATCH] Document HybridGrid limits. (#939) Adds documentation to avoid issue #937. --- cartographer/mapping/3d/hybrid_grid.h | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/cartographer/mapping/3d/hybrid_grid.h b/cartographer/mapping/3d/hybrid_grid.h index c9e19c6..84b296b 100644 --- a/cartographer/mapping/3d/hybrid_grid.h +++ b/cartographer/mapping/3d/hybrid_grid.h @@ -461,6 +461,10 @@ class HybridGridBase : public Grid { // A grid containing probability values stored using 15 bits, and an update // marker per voxel. +// Points are expected to be close to the origin. Points far from the origin +// require the grid to grow dynamically. For centimeter resolution, points +// can only be tens of meters from the origin. +// The hard limit of cell indexes is +/- 8192 around the origin. class HybridGrid : public HybridGridBase { public: explicit HybridGrid(const float resolution)