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Make proto::ProbabilityGrid proto3 compatible. (#641) 

Moves the optional 'known_cells_box' into a message field.
This way its existence can still be checked in proto3.
master
Wolfgang Hess 2017-11-09 11:47:33 +01:00 committed by GitHub
parent 386ee328d8
commit 92f81aec8a
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 21 additions and 16 deletions
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1
cartographer/common/port.h
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@ -25,7 +25,6 @@
#include <boost/iostreams/filter/gzip.hpp> #include <boost/iostreams/filter/gzip.hpp>
#include <boost/iostreams/filtering_stream.hpp> #include <boost/iostreams/filtering_stream.hpp>
namespace cartographer { namespace cartographer {
using int8 = int8_t; using int8 = int8_t;

16
cartographer/mapping_2d/probability_grid.h
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@ -47,10 +47,11 @@ class ProbabilityGrid {
explicit ProbabilityGrid(const proto::ProbabilityGrid& proto) explicit ProbabilityGrid(const proto::ProbabilityGrid& proto)
: limits_(proto.limits()), cells_() { : limits_(proto.limits()), cells_() {
if (proto.has_min_x()) { if (proto.has_known_cells_box()) {
const auto& box = proto.known_cells_box();
known_cells_box_ = known_cells_box_ =
Eigen::AlignedBox2i(Eigen::Vector2i(proto.min_x(), proto.min_y()), Eigen::AlignedBox2i(Eigen::Vector2i(box.min_x(), box.min_y()),
Eigen::Vector2i(proto.max_x(), proto.max_y())); Eigen::Vector2i(box.max_x(), box.max_y()));
} }
cells_.reserve(proto.cells_size()); cells_.reserve(proto.cells_size());
for (const auto cell : proto.cells()) { for (const auto cell : proto.cells()) {
@ -175,10 +176,11 @@ class ProbabilityGrid {
CHECK(update_indices_.empty()) << "Serializing a grid during an update is " CHECK(update_indices_.empty()) << "Serializing a grid during an update is "
"not supported. Finish the update first."; "not supported. Finish the update first.";
if (!known_cells_box_.isEmpty()) { if (!known_cells_box_.isEmpty()) {
result.set_max_x(known_cells_box_.max().x()); auto* const box = result.mutable_known_cells_box();
result.set_max_y(known_cells_box_.max().y()); box->set_max_x(known_cells_box_.max().x());
result.set_min_x(known_cells_box_.min().x()); box->set_max_y(known_cells_box_.max().y());
result.set_min_y(known_cells_box_.min().y()); box->set_min_x(known_cells_box_.min().x());
box->set_min_y(known_cells_box_.min().y());
} }
return result; return result;
} }

8
cartographer/mapping_2d/probability_grid_test.cc
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@ -32,10 +32,10 @@ TEST(ProbabilityGridTest, ProtoConstructor) {
for (int i = 6; i < 12; ++i) { for (int i = 6; i < 12; ++i) {
proto.mutable_cells()->Add(static_cast<uint16>(i)); proto.mutable_cells()->Add(static_cast<uint16>(i));
} }
proto.set_max_x(19); proto.mutable_known_cells_box()->set_max_x(19);
proto.set_max_y(20); proto.mutable_known_cells_box()->set_max_y(20);
proto.set_min_x(21); proto.mutable_known_cells_box()->set_min_x(21);
proto.set_min_y(22); proto.mutable_known_cells_box()->set_min_y(22);
ProbabilityGrid grid(proto); ProbabilityGrid grid(proto);
EXPECT_EQ(proto.limits().DebugString(), ToProto(grid.limits()).DebugString()); EXPECT_EQ(proto.limits().DebugString(), ToProto(grid.limits()).DebugString());

12
cartographer/mapping_2d/proto/probability_grid.proto
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@ -19,12 +19,16 @@ import "cartographer/mapping_2d/proto/map_limits.proto";
package cartographer.mapping_2d.proto; package cartographer.mapping_2d.proto;
message ProbabilityGrid { message ProbabilityGrid {
message CellBox {
optional int32 max_x = 1;
optional int32 max_y = 2;
optional int32 min_x = 3;
optional int32 min_y = 4;
}
optional MapLimits limits = 1; optional MapLimits limits = 1;
// These values are actually int16s, but protos don't have a native int16 // These values are actually int16s, but protos don't have a native int16
// type. // type.
repeated int32 cells = 2; repeated int32 cells = 2;
optional int32 max_x = 4; optional CellBox known_cells_box = 8;
optional int32 max_y = 5;
optional int32 min_x = 6;
optional int32 min_y = 7;
} }