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RangeDataCollator handles empty range data. (#1036) 

FIXES=#1019
master
gaschler 2018-04-04 15:20:10 +02:00 committed by Alexander Belyaev
parent abb2661b76
commit e26e9f172b
2 changed files with 30 additions and 3 deletions
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6
cartographer/mapping/internal/range_data_collator.cc
View File

@ -95,10 +95,10 @@ sensor::TimedPointCloudOriginData RangeDataCollator::CropAndMerge() {
} }
// Drop buffered points until overlap_end. // Drop buffered points until overlap_end.
if (overlap_end == ranges.begin()) { if (overlap_end == ranges.end()) {
++it;
} else if (overlap_end == ranges.end()) {
it = id_to_pending_data_.erase(it); it = id_to_pending_data_.erase(it);
} else if (overlap_end == ranges.begin()) {
++it;
} else { } else {
data = sensor::TimedPointCloudData{ data = sensor::TimedPointCloudData{
data.time, data.origin, data.time, data.origin,

27
cartographer/mapping/internal/range_data_collator_test.cc
View File

@ -77,6 +77,33 @@ TEST(RangeDataCollatorTest, SingleSensor) {
EXPECT_TRUE(ArePointTimestampsSorted(output_2)); EXPECT_TRUE(ArePointTimestampsSorted(output_2));
} }
TEST(RangeDataCollatorTest, SingleSensorEmptyData) {
const std::string sensor_id = "single_sensor";
RangeDataCollator collator({sensor_id});
sensor::TimedPointCloudData empty_data{common::FromUniversal(300)};
auto output_0 = collator.AddRangeData(sensor_id, empty_data);
EXPECT_EQ(output_0.time, empty_data.time);
EXPECT_EQ(output_0.ranges.size(), empty_data.ranges.size());
EXPECT_TRUE(ArePointTimestampsSorted(output_0));
auto output_1 =
collator.AddRangeData(sensor_id, CreateFakeRangeData(300, 500));
EXPECT_EQ(common::ToUniversal(output_1.time), 500);
EXPECT_EQ(output_1.origins.size(), 1);
ASSERT_EQ(output_1.ranges.size(), kNumSamples);
EXPECT_TRUE(ArePointTimestampsSorted(output_1));
EXPECT_NEAR(common::ToUniversal(
output_1.time +
common::FromSeconds(output_1.ranges[0].point_time[3])),
300, 2);
auto output_2 =
collator.AddRangeData(sensor_id, CreateFakeRangeData(-1000, 510));
EXPECT_EQ(common::ToUniversal(output_2.time), 510);
EXPECT_EQ(output_2.origins.size(), 1);
EXPECT_EQ(output_2.ranges.size(), 1);
EXPECT_EQ(output_2.ranges[0].point_time[3], 0.f);
EXPECT_TRUE(ArePointTimestampsSorted(output_2));
}
TEST(RangeDataCollatorTest, TwoSensors) { TEST(RangeDataCollatorTest, TwoSensors) {
const std::string sensor_0 = "sensor_0"; const std::string sensor_0 = "sensor_0";
const std::string sensor_1 = "sensor_1"; const std::string sensor_1 = "sensor_1";