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fixed casting of high_resolution_max_range (SubmapsOptions3D) (#1239) 

Fixed unintentional casting of high_resolution_max_range from double to int, to float

In SubmapsOptions3D the parameter "high_resolution_max_range" is defined as double. In the code it gets casted to int when calling Submap3D::InsertRangeData and to float when calling FilterRangeDataByMaxRange.
master
Martin Schwörer 2018-07-06 11:02:38 +02:00 committed by Wally B. Feed
parent 627ebb39b9
commit 902459e95c
2 changed files with 2 additions and 2 deletions
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2
cartographer/mapping/3d/submap_3d.cc
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@ -261,7 +261,7 @@ void Submap3D::ToResponseProto(
void Submap3D::InsertRangeData(const sensor::RangeData& range_data, void Submap3D::InsertRangeData(const sensor::RangeData& range_data,
const RangeDataInserter3D& range_data_inserter, const RangeDataInserter3D& range_data_inserter,
const int high_resolution_max_range) { const float high_resolution_max_range) {
CHECK(!finished()); CHECK(!finished());
const sensor::RangeData transformed_range_data = sensor::TransformRangeData( const sensor::RangeData transformed_range_data = sensor::TransformRangeData(
range_data, local_pose().inverse().cast<float>()); range_data, local_pose().inverse().cast<float>());

2
cartographer/mapping/3d/submap_3d.h
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@ -64,7 +64,7 @@ class Submap3D : public Submap {
// submap must not be finished yet. // submap must not be finished yet.
void InsertRangeData(const sensor::RangeData& range_data, void InsertRangeData(const sensor::RangeData& range_data,
const RangeDataInserter3D& range_data_inserter, const RangeDataInserter3D& range_data_inserter,
int high_resolution_max_range); float high_resolution_max_range);
void Finish(); void Finish();
private: private: