Initialize RangeData in TSDF tests. (#1520)
* Explicitly initialize RangeData. * Use auto to remove redundancy. * Ran clang-format.master
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@ -48,7 +48,7 @@ class RangeDataInserterTest2DTSDF : public ::testing::Test {
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}
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}
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void InsertPoint() {
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void InsertPoint() {
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sensor::RangeData range_data;
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auto range_data = sensor::RangeData();
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range_data.returns.push_back({Eigen::Vector3f{-0.5f, 3.5f, 0.f}});
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range_data.returns.push_back({Eigen::Vector3f{-0.5f, 3.5f, 0.f}});
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range_data.origin.x() = -0.5f;
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range_data.origin.x() = -0.5f;
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range_data.origin.y() = -0.5f;
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range_data.origin.y() = -0.5f;
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@ -236,7 +236,7 @@ TEST_F(RangeDataInserterTest2DTSDF, InsertPointQuadraticWeight) {
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TEST_F(RangeDataInserterTest2DTSDF,
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TEST_F(RangeDataInserterTest2DTSDF,
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InsertSmallAnglePointWithoutNormalProjection) {
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InsertSmallAnglePointWithoutNormalProjection) {
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sensor::RangeData range_data;
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auto range_data = sensor::RangeData();
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range_data.returns.push_back({Eigen::Vector3f{-0.5f, 3.5f, 0.f}});
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range_data.returns.push_back({Eigen::Vector3f{-0.5f, 3.5f, 0.f}});
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range_data.returns.push_back({Eigen::Vector3f{5.5f, 3.5f, 0.f}});
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range_data.returns.push_back({Eigen::Vector3f{5.5f, 3.5f, 0.f}});
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range_data.returns.push_back({Eigen::Vector3f{10.5f, 3.5f, 0.f}});
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range_data.returns.push_back({Eigen::Vector3f{10.5f, 3.5f, 0.f}});
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@ -263,7 +263,7 @@ TEST_F(RangeDataInserterTest2DTSDF,
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TEST_F(RangeDataInserterTest2DTSDF, InsertSmallAnglePointWitNormalProjection) {
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TEST_F(RangeDataInserterTest2DTSDF, InsertSmallAnglePointWitNormalProjection) {
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options_.set_project_sdf_distance_to_scan_normal(true);
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options_.set_project_sdf_distance_to_scan_normal(true);
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range_data_inserter_ = absl::make_unique<TSDFRangeDataInserter2D>(options_);
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range_data_inserter_ = absl::make_unique<TSDFRangeDataInserter2D>(options_);
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sensor::RangeData range_data;
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auto range_data = sensor::RangeData();
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range_data.returns.push_back({Eigen::Vector3f{-0.5f, 3.5f, 0.f}});
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range_data.returns.push_back({Eigen::Vector3f{-0.5f, 3.5f, 0.f}});
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range_data.returns.push_back({Eigen::Vector3f{5.5f, 3.5f, 0.f}});
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range_data.returns.push_back({Eigen::Vector3f{5.5f, 3.5f, 0.f}});
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range_data.origin.x() = -0.5f;
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range_data.origin.x() = -0.5f;
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@ -293,7 +293,7 @@ TEST_F(RangeDataInserterTest2DTSDF,
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options_.set_update_weight_angle_scan_normal_to_ray_kernel_bandwidth(
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options_.set_update_weight_angle_scan_normal_to_ray_kernel_bandwidth(
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bandwidth);
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bandwidth);
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range_data_inserter_ = absl::make_unique<TSDFRangeDataInserter2D>(options_);
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range_data_inserter_ = absl::make_unique<TSDFRangeDataInserter2D>(options_);
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sensor::RangeData range_data;
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auto range_data = sensor::RangeData();
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range_data.returns.push_back({Eigen::Vector3f{-0.5f, 3.5f, 0.f}});
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range_data.returns.push_back({Eigen::Vector3f{-0.5f, 3.5f, 0.f}});
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range_data.returns.push_back({Eigen::Vector3f{5.5f, 3.5f, 0.f}});
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range_data.returns.push_back({Eigen::Vector3f{5.5f, 3.5f, 0.f}});
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range_data.origin.x() = -0.5f;
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range_data.origin.x() = -0.5f;
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@ -56,7 +56,7 @@ class TSDFSpaceCostFunction2DTest : public ::testing::Test {
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}
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}
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void InsertPointcloud() {
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void InsertPointcloud() {
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sensor::RangeData range_data;
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auto range_data = sensor::RangeData();
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for (float x = -.5; x < 0.5f; x += 0.1) {
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for (float x = -.5; x < 0.5f; x += 0.1) {
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range_data.returns.push_back({Eigen::Vector3f{x, 1.0f, 0.f}});
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range_data.returns.push_back({Eigen::Vector3f{x, 1.0f, 0.f}});
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}
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}
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@ -61,8 +61,8 @@ RangefinderPoint CompressedPointCloud::ConstIterator::operator*() const {
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return {current_point_};
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return {current_point_};
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}
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}
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CompressedPointCloud::ConstIterator& CompressedPointCloud::ConstIterator::
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CompressedPointCloud::ConstIterator&
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operator++() {
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CompressedPointCloud::ConstIterator::operator++() {
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--remaining_points_;
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--remaining_points_;
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if (remaining_points_ > 0) {
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if (remaining_points_ > 0) {
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ReadNextPoint();
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ReadNextPoint();
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