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Fix a bug introduced in the recent clean up. (#13)

master
Wolfgang Hess 2016-08-26 17:40:37 +02:00 committed by GitHub
parent 0c9f416da8
commit 5b20df7fcb
2 changed files with 28 additions and 3 deletions
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6
cartographer/mapping_2d/map_limits.h
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@ -89,9 +89,11 @@ class MapLimits {
const float kPadding = 3.f * resolution; const float kPadding = 3.f * resolution;
bounding_box.min() -= kPadding * Eigen::Vector2f::Ones(); bounding_box.min() -= kPadding * Eigen::Vector2f::Ones();
bounding_box.max() += kPadding * Eigen::Vector2f::Ones(); bounding_box.max() += kPadding * Eigen::Vector2f::Ones();
const Eigen::Vector2d pixel_sizes =
bounding_box.sizes().cast<double>() / resolution;
return MapLimits(resolution, bounding_box.max().cast<double>(), return MapLimits(resolution, bounding_box.max().cast<double>(),
CellLimits(common::RoundToInt(bounding_box.sizes().y()), CellLimits(common::RoundToInt(pixel_sizes.y()),
common::RoundToInt(bounding_box.sizes().x()))); common::RoundToInt(pixel_sizes.x())));
} }
static Eigen::AlignedBox2f ComputeMapBoundingBox( static Eigen::AlignedBox2f ComputeMapBoundingBox(

25
cartographer/mapping_2d/map_limits_test.cc
View File

@ -22,7 +22,7 @@ namespace cartographer {
namespace mapping_2d { namespace mapping_2d {
namespace { namespace {
TEST(MapLimits, ConstructAndGet) { TEST(MapLimitsTest, ConstructAndGet) {
const MapLimits limits(42., Eigen::Vector2d(3., 0.), CellLimits(2, 3)); const MapLimits limits(42., Eigen::Vector2d(3., 0.), CellLimits(2, 3));
const CellLimits& cell_limits = limits.cell_limits(); const CellLimits& cell_limits = limits.cell_limits();
@ -36,6 +36,29 @@ TEST(MapLimits, ConstructAndGet) {
EXPECT_EQ(42., limits.resolution()); EXPECT_EQ(42., limits.resolution());
} }
TEST(MapLimitsTest, ComputeMapLimits) {
const mapping::TrajectoryNode::ConstantData constant_data{
common::FromUniversal(52),
sensor::LaserFan{
Eigen::Vector2f::Zero(),
{Eigen::Vector2f(-30.f, 1.f), Eigen::Vector2f(50.f, -10.f)},
{}},
Compress(sensor::LaserFan3D{Eigen::Vector3f::Zero(), {}, {}, {}}),
nullptr, transform::Rigid3d::Identity()};
const mapping::TrajectoryNode trajectory_node{&constant_data,
transform::Rigid3d::Identity()};
constexpr double kResolution = 0.05;
const MapLimits limits =
MapLimits::ComputeMapLimits(kResolution, {trajectory_node});
constexpr float kPaddingAwareTolerance = 5 * kResolution;
EXPECT_NEAR(50.f, limits.max().x(), kPaddingAwareTolerance);
EXPECT_NEAR(1.f, limits.max().y(), kPaddingAwareTolerance);
EXPECT_LT(200, limits.cell_limits().num_x_cells);
EXPECT_LT(1600, limits.cell_limits().num_y_cells);
EXPECT_GT(400, limits.cell_limits().num_x_cells);
EXPECT_GT(2000, limits.cell_limits().num_y_cells);
}
} // namespace } // namespace
} // namespace mapping_2d } // namespace mapping_2d
} // namespace cartographer } // namespace cartographer