Separate raycast and grid update (#1216)

Separate raycast and grid update logic.
Rename raycast to ray_to_pixel_mask.
master
Kevin Daun 2018-07-03 19:51:39 +02:00 committed by Wally B. Feed
parent d2f3c1ea31
commit cc9fc75757
5 changed files with 444 additions and 220 deletions

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@ -21,12 +21,79 @@
#include "Eigen/Core" #include "Eigen/Core"
#include "Eigen/Geometry" #include "Eigen/Geometry"
#include "cartographer/mapping/2d/xy_index.h" #include "cartographer/mapping/2d/xy_index.h"
#include "cartographer/mapping/internal/2d/ray_casting.h" #include "cartographer/mapping/internal/2d/ray_to_pixel_mask.h"
#include "cartographer/mapping/probability_values.h" #include "cartographer/mapping/probability_values.h"
#include "glog/logging.h" #include "glog/logging.h"
namespace cartographer { namespace cartographer {
namespace mapping { namespace mapping {
namespace {
// Factor for subpixel accuracy of start and end point for ray casts.
constexpr int kSubpixelScale = 1000;
void GrowAsNeeded(const sensor::RangeData& range_data,
ProbabilityGrid* const probability_grid) {
Eigen::AlignedBox2f bounding_box(range_data.origin.head<2>());
constexpr float kPadding = 1e-6f;
for (const Eigen::Vector3f& hit : range_data.returns) {
bounding_box.extend(hit.head<2>());
}
for (const Eigen::Vector3f& miss : range_data.misses) {
bounding_box.extend(miss.head<2>());
}
probability_grid->GrowLimits(bounding_box.min() -
kPadding * Eigen::Vector2f::Ones());
probability_grid->GrowLimits(bounding_box.max() +
kPadding * Eigen::Vector2f::Ones());
}
void CastRays(const sensor::RangeData& range_data,
const std::vector<uint16>& hit_table,
const std::vector<uint16>& miss_table,
const bool insert_free_space, ProbabilityGrid* probability_grid) {
GrowAsNeeded(range_data, probability_grid);
const MapLimits& limits = probability_grid->limits();
const double superscaled_resolution = limits.resolution() / kSubpixelScale;
const MapLimits superscaled_limits(
superscaled_resolution, limits.max(),
CellLimits(limits.cell_limits().num_x_cells * kSubpixelScale,
limits.cell_limits().num_y_cells * kSubpixelScale));
const Eigen::Array2i begin =
superscaled_limits.GetCellIndex(range_data.origin.head<2>());
// Compute and add the end points.
std::vector<Eigen::Array2i> ends;
ends.reserve(range_data.returns.size());
for (const Eigen::Vector3f& hit : range_data.returns) {
ends.push_back(superscaled_limits.GetCellIndex(hit.head<2>()));
probability_grid->ApplyLookupTable(ends.back() / kSubpixelScale, hit_table);
}
if (!insert_free_space) {
return;
}
// Now add the misses.
for (const Eigen::Array2i& end : ends) {
std::vector<Eigen::Array2i> ray =
RayToPixelMask(begin, end, kSubpixelScale);
for (const Eigen::Array2i& cell_index : ray) {
probability_grid->ApplyLookupTable(cell_index, miss_table);
}
}
// Finally, compute and add empty rays based on misses in the range data.
for (const Eigen::Vector3f& missing_echo : range_data.misses) {
std::vector<Eigen::Array2i> ray = RayToPixelMask(
begin, superscaled_limits.GetCellIndex(missing_echo.head<2>()),
kSubpixelScale);
for (const Eigen::Array2i& cell_index : ray) {
probability_grid->ApplyLookupTable(cell_index, miss_table);
}
}
}
} // namespace
proto::ProbabilityGridRangeDataInserterOptions2D proto::ProbabilityGridRangeDataInserterOptions2D
CreateProbabilityGridRangeDataInserterOptions2D( CreateProbabilityGridRangeDataInserterOptions2D(

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@ -1,206 +0,0 @@
/*
* Copyright 2016 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "cartographer/mapping/internal/2d/ray_casting.h"
namespace cartographer {
namespace mapping {
namespace {
// Factor for subpixel accuracy of start and end point.
constexpr int kSubpixelScale = 1000;
// We divide each pixel in kSubpixelScale x kSubpixelScale subpixels. 'begin'
// and 'end' are coordinates at subpixel precision. We compute all pixels in
// which some part of the line segment connecting 'begin' and 'end' lies.
void CastRay(const Eigen::Array2i& begin, const Eigen::Array2i& end,
const std::vector<uint16>& miss_table,
ProbabilityGrid* const probability_grid) {
// For simplicity, we order 'begin' and 'end' by their x coordinate.
if (begin.x() > end.x()) {
CastRay(end, begin, miss_table, probability_grid);
return;
}
CHECK_GE(begin.x(), 0);
CHECK_GE(begin.y(), 0);
CHECK_GE(end.y(), 0);
// Special case: We have to draw a vertical line in full pixels, as 'begin'
// and 'end' have the same full pixel x coordinate.
if (begin.x() / kSubpixelScale == end.x() / kSubpixelScale) {
Eigen::Array2i current(begin.x() / kSubpixelScale,
std::min(begin.y(), end.y()) / kSubpixelScale);
const int end_y = std::max(begin.y(), end.y()) / kSubpixelScale;
for (; current.y() <= end_y; ++current.y()) {
probability_grid->ApplyLookupTable(current, miss_table);
}
return;
}
const int64 dx = end.x() - begin.x();
const int64 dy = end.y() - begin.y();
const int64 denominator = 2 * kSubpixelScale * dx;
// The current full pixel coordinates. We begin at 'begin'.
Eigen::Array2i current = begin / kSubpixelScale;
// To represent subpixel centers, we use a factor of 2 * 'kSubpixelScale' in
// the denominator.
// +-+-+-+ -- 1 = (2 * kSubpixelScale) / (2 * kSubpixelScale)
// | | | |
// +-+-+-+
// | | | |
// +-+-+-+ -- top edge of first subpixel = 2 / (2 * kSubpixelScale)
// | | | | -- center of first subpixel = 1 / (2 * kSubpixelScale)
// +-+-+-+ -- 0 = 0 / (2 * kSubpixelScale)
// The center of the subpixel part of 'begin.y()' assuming the
// 'denominator', i.e., sub_y / denominator is in (0, 1).
int64 sub_y = (2 * (begin.y() % kSubpixelScale) + 1) * dx;
// The distance from the from 'begin' to the right pixel border, to be divided
// by 2 * 'kSubpixelScale'.
const int first_pixel =
2 * kSubpixelScale - 2 * (begin.x() % kSubpixelScale) - 1;
// The same from the left pixel border to 'end'.
const int last_pixel = 2 * (end.x() % kSubpixelScale) + 1;
// The full pixel x coordinate of 'end'.
const int end_x = std::max(begin.x(), end.x()) / kSubpixelScale;
// Move from 'begin' to the next pixel border to the right.
sub_y += dy * first_pixel;
if (dy > 0) {
while (true) {
probability_grid->ApplyLookupTable(current, miss_table);
while (sub_y > denominator) {
sub_y -= denominator;
++current.y();
probability_grid->ApplyLookupTable(current, miss_table);
}
++current.x();
if (sub_y == denominator) {
sub_y -= denominator;
++current.y();
}
if (current.x() == end_x) {
break;
}
// Move from one pixel border to the next.
sub_y += dy * 2 * kSubpixelScale;
}
// Move from the pixel border on the right to 'end'.
sub_y += dy * last_pixel;
probability_grid->ApplyLookupTable(current, miss_table);
while (sub_y > denominator) {
sub_y -= denominator;
++current.y();
probability_grid->ApplyLookupTable(current, miss_table);
}
CHECK_NE(sub_y, denominator);
CHECK_EQ(current.y(), end.y() / kSubpixelScale);
return;
}
// Same for lines non-ascending in y coordinates.
while (true) {
probability_grid->ApplyLookupTable(current, miss_table);
while (sub_y < 0) {
sub_y += denominator;
--current.y();
probability_grid->ApplyLookupTable(current, miss_table);
}
++current.x();
if (sub_y == 0) {
sub_y += denominator;
--current.y();
}
if (current.x() == end_x) {
break;
}
sub_y += dy * 2 * kSubpixelScale;
}
sub_y += dy * last_pixel;
probability_grid->ApplyLookupTable(current, miss_table);
while (sub_y < 0) {
sub_y += denominator;
--current.y();
probability_grid->ApplyLookupTable(current, miss_table);
}
CHECK_NE(sub_y, 0);
CHECK_EQ(current.y(), end.y() / kSubpixelScale);
}
void GrowAsNeeded(const sensor::RangeData& range_data,
ProbabilityGrid* const probability_grid) {
Eigen::AlignedBox2f bounding_box(range_data.origin.head<2>());
constexpr float kPadding = 1e-6f;
for (const Eigen::Vector3f& hit : range_data.returns) {
bounding_box.extend(hit.head<2>());
}
for (const Eigen::Vector3f& miss : range_data.misses) {
bounding_box.extend(miss.head<2>());
}
probability_grid->GrowLimits(bounding_box.min() -
kPadding * Eigen::Vector2f::Ones());
probability_grid->GrowLimits(bounding_box.max() +
kPadding * Eigen::Vector2f::Ones());
}
} // namespace
void CastRays(const sensor::RangeData& range_data,
const std::vector<uint16>& hit_table,
const std::vector<uint16>& miss_table,
const bool insert_free_space,
ProbabilityGrid* const probability_grid) {
GrowAsNeeded(range_data, probability_grid);
const MapLimits& limits = probability_grid->limits();
const double superscaled_resolution = limits.resolution() / kSubpixelScale;
const MapLimits superscaled_limits(
superscaled_resolution, limits.max(),
CellLimits(limits.cell_limits().num_x_cells * kSubpixelScale,
limits.cell_limits().num_y_cells * kSubpixelScale));
const Eigen::Array2i begin =
superscaled_limits.GetCellIndex(range_data.origin.head<2>());
// Compute and add the end points.
std::vector<Eigen::Array2i> ends;
ends.reserve(range_data.returns.size());
for (const Eigen::Vector3f& hit : range_data.returns) {
ends.push_back(superscaled_limits.GetCellIndex(hit.head<2>()));
probability_grid->ApplyLookupTable(ends.back() / kSubpixelScale, hit_table);
}
if (!insert_free_space) {
return;
}
// Now add the misses.
for (const Eigen::Array2i& end : ends) {
CastRay(begin, end, miss_table, probability_grid);
}
// Finally, compute and add empty rays based on misses in the range data.
for (const Eigen::Vector3f& missing_echo : range_data.misses) {
CastRay(begin, superscaled_limits.GetCellIndex(missing_echo.head<2>()),
miss_table, probability_grid);
}
}
} // namespace mapping
} // namespace cartographer

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/*
* Copyright 2016 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "cartographer/mapping/internal/2d/ray_to_pixel_mask.h"
#include "Eigen/Dense"
namespace cartographer {
namespace mapping {
namespace {
bool isEqual(const Eigen::Array2i& lhs, const Eigen::Array2i& rhs) {
return ((lhs - rhs).matrix().lpNorm<1>() == 0);
}
} // namespace
// Compute all pixels that contain some part of the line segment connecting
// 'scaled_begin' and 'scaled_end'. 'scaled_begin' and 'scaled_end' are scaled
// by 'subpixel_scale'. 'scaled_begin' and 'scaled_end' are expected to be
// greater than zero. Return values are in pixels and not scaled.
std::vector<Eigen::Array2i> RayToPixelMask(const Eigen::Array2i& scaled_begin,
const Eigen::Array2i& scaled_end,
int subpixel_scale) {
// For simplicity, we order 'scaled_begin' and 'scaled_end' by their x
// coordinate.
if (scaled_begin.x() > scaled_end.x()) {
return RayToPixelMask(scaled_end, scaled_begin, subpixel_scale);
}
CHECK_GE(scaled_begin.x(), 0);
CHECK_GE(scaled_begin.y(), 0);
CHECK_GE(scaled_end.y(), 0);
std::vector<Eigen::Array2i> pixel_mask;
// Special case: We have to draw a vertical line in full pixels, as
// 'scaled_begin' and 'scaled_end' have the same full pixel x coordinate.
if (scaled_begin.x() / subpixel_scale == scaled_end.x() / subpixel_scale) {
Eigen::Array2i current(
scaled_begin.x() / subpixel_scale,
std::min(scaled_begin.y(), scaled_end.y()) / subpixel_scale);
pixel_mask.push_back(current);
const int end_y =
std::max(scaled_begin.y(), scaled_end.y()) / subpixel_scale;
for (; current.y() <= end_y; ++current.y()) {
if (!isEqual(pixel_mask.back(), current)) pixel_mask.push_back(current);
}
return pixel_mask;
}
const int64 dx = scaled_end.x() - scaled_begin.x();
const int64 dy = scaled_end.y() - scaled_begin.y();
const int64 denominator = 2 * subpixel_scale * dx;
// The current full pixel coordinates. We scaled_begin at 'scaled_begin'.
Eigen::Array2i current = scaled_begin / subpixel_scale;
pixel_mask.push_back(current);
// To represent subpixel centers, we use a factor of 2 * 'subpixel_scale' in
// the denominator.
// +-+-+-+ -- 1 = (2 * subpixel_scale) / (2 * subpixel_scale)
// | | | |
// +-+-+-+
// | | | |
// +-+-+-+ -- top edge of first subpixel = 2 / (2 * subpixel_scale)
// | | | | -- center of first subpixel = 1 / (2 * subpixel_scale)
// +-+-+-+ -- 0 = 0 / (2 * subpixel_scale)
// The center of the subpixel part of 'scaled_begin.y()' assuming the
// 'denominator', i.e., sub_y / denominator is in (0, 1).
int64 sub_y = (2 * (scaled_begin.y() % subpixel_scale) + 1) * dx;
// The distance from the from 'scaled_begin' to the right pixel border, to be
// divided by 2 * 'subpixel_scale'.
const int first_pixel =
2 * subpixel_scale - 2 * (scaled_begin.x() % subpixel_scale) - 1;
// The same from the left pixel border to 'scaled_end'.
const int last_pixel = 2 * (scaled_end.x() % subpixel_scale) + 1;
// The full pixel x coordinate of 'scaled_end'.
const int end_x = std::max(scaled_begin.x(), scaled_end.x()) / subpixel_scale;
// Move from 'scaled_begin' to the next pixel border to the right.
sub_y += dy * first_pixel;
if (dy > 0) {
while (true) {
if (!isEqual(pixel_mask.back(), current)) pixel_mask.push_back(current);
while (sub_y > denominator) {
sub_y -= denominator;
++current.y();
if (!isEqual(pixel_mask.back(), current)) pixel_mask.push_back(current);
}
++current.x();
if (sub_y == denominator) {
sub_y -= denominator;
++current.y();
}
if (current.x() == end_x) {
break;
}
// Move from one pixel border to the next.
sub_y += dy * 2 * subpixel_scale;
}
// Move from the pixel border on the right to 'scaled_end'.
sub_y += dy * last_pixel;
if (!isEqual(pixel_mask.back(), current)) pixel_mask.push_back(current);
while (sub_y > denominator) {
sub_y -= denominator;
++current.y();
if (!isEqual(pixel_mask.back(), current)) pixel_mask.push_back(current);
}
CHECK_NE(sub_y, denominator);
CHECK_EQ(current.y(), scaled_end.y() / subpixel_scale);
return pixel_mask;
}
// Same for lines non-ascending in y coordinates.
while (true) {
if (!isEqual(pixel_mask.back(), current)) pixel_mask.push_back(current);
while (sub_y < 0) {
sub_y += denominator;
--current.y();
if (!isEqual(pixel_mask.back(), current)) pixel_mask.push_back(current);
}
++current.x();
if (sub_y == 0) {
sub_y += denominator;
--current.y();
}
if (current.x() == end_x) {
break;
}
sub_y += dy * 2 * subpixel_scale;
}
sub_y += dy * last_pixel;
if (!isEqual(pixel_mask.back(), current)) pixel_mask.push_back(current);
while (sub_y < 0) {
sub_y += denominator;
--current.y();
if (!isEqual(pixel_mask.back(), current)) pixel_mask.push_back(current);
}
CHECK_NE(sub_y, 0);
CHECK_EQ(current.y(), scaled_end.y() / subpixel_scale);
return pixel_mask;
}
} // namespace mapping
} // namespace cartographer

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* limitations under the License. * limitations under the License.
*/ */
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_RAY_CASTING_H_ #ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_RAY_TO_PIXEL_MASK_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_2D_RAY_CASTING_H_ #define CARTOGRAPHER_MAPPING_INTERNAL_2D_RAY_TO_PIXEL_MASK_H_
#include <vector> #include <vector>
#include "cartographer/common/port.h"
#include "cartographer/mapping/2d/probability_grid.h"
#include "cartographer/sensor/point_cloud.h"
#include "cartographer/sensor/range_data.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"
namespace cartographer { namespace cartographer {
namespace mapping { namespace mapping {
// For each ray in 'range_data', inserts hits and misses into // Compute all pixels that contain some part of the line segment connecting
// 'probability_grid'. Hits are handled before misses. // 'scaled_begin' and 'scaled_end'. 'scaled_begin' and 'scaled_end' are scaled
void CastRays(const sensor::RangeData& range_data, // by 'subpixel_scale'. 'scaled_begin' and 'scaled_end' are expected to be
const std::vector<uint16>& hit_table, // greater than zero. Return values are in pixels and not scaled.
const std::vector<uint16>& miss_table, bool insert_free_space, std::vector<Eigen::Array2i> RayToPixelMask(const Eigen::Array2i& scaled_begin,
ProbabilityGrid* probability_grid); const Eigen::Array2i& scaled_end,
int subpixel_scale);
} // namespace mapping } // namespace mapping
} // namespace cartographer } // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_INTERNAL_2D_RAY_CASTING_H_ #endif // CARTOGRAPHER_MAPPING_INTERNAL_2D_RAY_TO_PIXEL_MASK_H_

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/*
* Copyright 2018 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "cartographer/mapping/internal/2d/ray_to_pixel_mask.h"
#include "cartographer/mapping/2d/map_limits.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
namespace cartographer {
namespace mapping {
namespace {
using ::testing::ElementsAre;
MATCHER_P(PixelMaskEqual, value, "") {
Eigen::Array2i residual = value - arg;
return residual.matrix().lpNorm<1>() == 0;
}
TEST(RayToPixelMaskTest, SingleCell) {
const Eigen::Array2i& begin = {1, 1};
const Eigen::Array2i& end = {1, 1};
const int subpixel_scale = 1;
std::vector<Eigen::Array2i> ray = RayToPixelMask(begin, end, subpixel_scale);
std::vector<Eigen::Array2i> ray_reference =
std::vector<Eigen::Array2i>{begin};
EXPECT_THAT(ray, ElementsAre(PixelMaskEqual(begin)));
}
TEST(RayToPixelMaskTest, AxisAlignedX) {
const Eigen::Array2i& begin = {1, 1};
const Eigen::Array2i& end = {3, 1};
const int subpixel_scale = 1;
std::vector<Eigen::Array2i> ray = RayToPixelMask(begin, end, subpixel_scale);
EXPECT_THAT(ray, ElementsAre(PixelMaskEqual(Eigen::Array2i({1, 1})),
PixelMaskEqual(Eigen::Array2i({2, 1})),
PixelMaskEqual(Eigen::Array2i({3, 1}))));
ray = RayToPixelMask(end, begin, subpixel_scale);
EXPECT_THAT(ray, ElementsAre(PixelMaskEqual(Eigen::Array2i({1, 1})),
PixelMaskEqual(Eigen::Array2i({2, 1})),
PixelMaskEqual(Eigen::Array2i({3, 1}))));
}
TEST(RayToPixelMaskTest, AxisAlignedY) {
const Eigen::Array2i& begin = {1, 1};
const Eigen::Array2i& end = {1, 3};
const int subpixel_scale = 1;
std::vector<Eigen::Array2i> ray_reference = std::vector<Eigen::Array2i>{
Eigen::Array2i({1, 1}), Eigen::Array2i({1, 2}), Eigen::Array2i({1, 3})};
std::vector<Eigen::Array2i> ray = RayToPixelMask(begin, end, subpixel_scale);
EXPECT_THAT(ray, ElementsAre(PixelMaskEqual(Eigen::Array2i({1, 1})),
PixelMaskEqual(Eigen::Array2i({1, 2})),
PixelMaskEqual(Eigen::Array2i({1, 3}))));
ray = RayToPixelMask(end, begin, subpixel_scale);
EXPECT_THAT(ray, ElementsAre(PixelMaskEqual(Eigen::Array2i({1, 1})),
PixelMaskEqual(Eigen::Array2i({1, 2})),
PixelMaskEqual(Eigen::Array2i({1, 3}))));
}
TEST(RayToPixelMaskTest, Diagonal) {
Eigen::Array2i begin = {1, 1};
Eigen::Array2i end = {3, 3};
const int subpixel_scale = 1;
std::vector<Eigen::Array2i> ray_reference = std::vector<Eigen::Array2i>{
Eigen::Array2i({1, 1}), Eigen::Array2i({2, 2}), Eigen::Array2i({3, 3})};
std::vector<Eigen::Array2i> ray = RayToPixelMask(begin, end, subpixel_scale);
EXPECT_THAT(ray, ElementsAre(PixelMaskEqual(Eigen::Array2i({1, 1})),
PixelMaskEqual(Eigen::Array2i({2, 2})),
PixelMaskEqual(Eigen::Array2i({3, 3}))));
ray = RayToPixelMask(end, begin, subpixel_scale);
EXPECT_THAT(ray, ElementsAre(PixelMaskEqual(Eigen::Array2i({1, 1})),
PixelMaskEqual(Eigen::Array2i({2, 2})),
PixelMaskEqual(Eigen::Array2i({3, 3}))));
begin = Eigen::Array2i({1, 3});
end = Eigen::Array2i({3, 1});
ray = RayToPixelMask(begin, end, subpixel_scale);
EXPECT_THAT(ray, ElementsAre(PixelMaskEqual(Eigen::Array2i({1, 3})),
PixelMaskEqual(Eigen::Array2i({2, 2})),
PixelMaskEqual(Eigen::Array2i({3, 1}))));
ray = RayToPixelMask(end, begin, subpixel_scale);
EXPECT_THAT(ray, ElementsAre(PixelMaskEqual(Eigen::Array2i({1, 3})),
PixelMaskEqual(Eigen::Array2i({2, 2})),
PixelMaskEqual(Eigen::Array2i({3, 1}))));
}
TEST(RayToPixelMaskTest, SteepLine) {
Eigen::Array2i begin = {1, 1};
Eigen::Array2i end = {2, 5};
const int subpixel_scale = 1;
std::vector<Eigen::Array2i> ray_reference = std::vector<Eigen::Array2i>{
Eigen::Array2i({1, 1}), Eigen::Array2i({1, 2}), Eigen::Array2i({1, 3}),
Eigen::Array2i({2, 3}), Eigen::Array2i({2, 4}), Eigen::Array2i({2, 5})};
std::vector<Eigen::Array2i> ray = RayToPixelMask(begin, end, subpixel_scale);
EXPECT_THAT(ray, ElementsAre(PixelMaskEqual(Eigen::Array2i({1, 1})),
PixelMaskEqual(Eigen::Array2i({1, 2})),
PixelMaskEqual(Eigen::Array2i({1, 3})),
PixelMaskEqual(Eigen::Array2i({2, 3})),
PixelMaskEqual(Eigen::Array2i({2, 4})),
PixelMaskEqual(Eigen::Array2i({2, 5}))));
begin = {1, 1};
end = {2, 4};
ray_reference = std::vector<Eigen::Array2i>{
Eigen::Array2i({1, 1}), Eigen::Array2i({1, 2}), Eigen::Array2i({2, 3}),
Eigen::Array2i({2, 4})};
ray = RayToPixelMask(begin, end, subpixel_scale);
EXPECT_THAT(ray, ElementsAre(PixelMaskEqual(Eigen::Array2i({1, 1})),
PixelMaskEqual(Eigen::Array2i({1, 2})),
PixelMaskEqual(Eigen::Array2i({2, 3})),
PixelMaskEqual(Eigen::Array2i({2, 4}))));
}
TEST(RayToPixelMaskTest, FlatLine) {
Eigen::Array2i begin = {1, 1};
Eigen::Array2i end = {5, 2};
const int subpixel_scale = 1;
std::vector<Eigen::Array2i> ray = RayToPixelMask(begin, end, subpixel_scale);
EXPECT_THAT(ray, ElementsAre(PixelMaskEqual(Eigen::Array2i({1, 1})),
PixelMaskEqual(Eigen::Array2i({2, 1})),
PixelMaskEqual(Eigen::Array2i({3, 1})),
PixelMaskEqual(Eigen::Array2i({3, 2})),
PixelMaskEqual(Eigen::Array2i({4, 2})),
PixelMaskEqual(Eigen::Array2i({5, 2}))));
begin = {1, 1};
end = {4, 2};
ray = RayToPixelMask(begin, end, subpixel_scale);
EXPECT_THAT(ray, ElementsAre(PixelMaskEqual(Eigen::Array2i({1, 1})),
PixelMaskEqual(Eigen::Array2i({2, 1})),
PixelMaskEqual(Eigen::Array2i({3, 2})),
PixelMaskEqual(Eigen::Array2i({4, 2}))));
}
TEST(RayToPixelMaskTest, MultiScaleAxisAlignedX) {
int subpixel_scale;
const int num_cells_x = 20;
const int num_cells_y = 20;
double resolution = 0.1;
Eigen::Vector2d max = {1.0, 1.0};
std::vector<Eigen::Array2i> base_scale_ray;
for (subpixel_scale = 1; subpixel_scale < 10000; subpixel_scale *= 2) {
double superscaled_resolution = resolution / subpixel_scale;
MapLimits superscaled_limits(
superscaled_resolution, max,
CellLimits(num_cells_x * subpixel_scale, num_cells_y * subpixel_scale));
Eigen::Array2i begin =
superscaled_limits.GetCellIndex(Eigen::Vector2f({0.05, 0.05}));
Eigen::Array2i end =
superscaled_limits.GetCellIndex(Eigen::Vector2f({0.35, 0.05}));
std::vector<Eigen::Array2i> ray =
RayToPixelMask(begin, end, subpixel_scale);
EXPECT_THAT(ray, ElementsAre(PixelMaskEqual(Eigen::Array2i({9, 6})),
PixelMaskEqual(Eigen::Array2i({9, 7})),
PixelMaskEqual(Eigen::Array2i({9, 8})),
PixelMaskEqual(Eigen::Array2i({9, 9}))));
}
}
TEST(RayToPixelMaskTest, MultiScaleSkewedLine) {
int subpixel_scale = 1;
const int num_cells_x = 20;
const int num_cells_y = 20;
double resolution = 0.1;
Eigen::Vector2d max = {1.0, 1.0};
double superscaled_resolution = resolution / subpixel_scale;
MapLimits superscaled_limits(
superscaled_resolution, max,
CellLimits(num_cells_x * subpixel_scale, num_cells_y * subpixel_scale));
Eigen::Array2i begin =
superscaled_limits.GetCellIndex(Eigen::Vector2f({0.01, 0.09}));
Eigen::Array2i end =
superscaled_limits.GetCellIndex(Eigen::Vector2f({0.21, 0.19}));
std::vector<Eigen::Array2i> ray = RayToPixelMask(begin, end, subpixel_scale);
EXPECT_THAT(ray, ElementsAre(PixelMaskEqual(Eigen::Array2i({8, 7})),
PixelMaskEqual(Eigen::Array2i({8, 8})),
PixelMaskEqual(Eigen::Array2i({9, 8})),
PixelMaskEqual(Eigen::Array2i({9, 9}))));
subpixel_scale = 20;
superscaled_resolution = resolution / subpixel_scale;
superscaled_limits = MapLimits(
superscaled_resolution, max,
CellLimits(num_cells_x * subpixel_scale, num_cells_y * subpixel_scale));
begin = superscaled_limits.GetCellIndex(Eigen::Vector2f({0.01, 0.09}));
end = superscaled_limits.GetCellIndex(Eigen::Vector2f({0.21, 0.19}));
ray = RayToPixelMask(begin, end, subpixel_scale);
EXPECT_THAT(ray, ElementsAre(PixelMaskEqual(Eigen::Array2i({8, 7})),
PixelMaskEqual(Eigen::Array2i({8, 8})),
PixelMaskEqual(Eigen::Array2i({8, 9})),
PixelMaskEqual(Eigen::Array2i({9, 9}))));
}
} // namespace
} // namespace mapping
} // namespace cartographer