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Adds the laser ray origin to
RangefinderPoint
to enablecorrect raytracing of range data misses into a 2D probability
grid also after scan accumulation.
Previously, all rays were casted from their hit point to the
tracking frame. This is wrong for any setup where the tracking
frame is not the sensor frame and leads to artifacts in the map.
Fixes: #947
Below an example of a map generated from a multiple 2D laser scanners configuration, which are not centered in the tracking frame, before and after the proposed fix. It can be seen clearly that the previous version of the software was cutting and cleaning the corners of the map due to the imprecise origin used for raytracing. This caused the exclusion of large structures from the map.