Follow googlecartographer/cartographer#396. (#417)
parent
6b1e9fb55c
commit
35389d0adb
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@ -67,15 +67,18 @@ void Write3DAssets(
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carto::io::NullPointsProcessor null_points_processor;
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carto::io::NullPointsProcessor null_points_processor;
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carto::io::XRayPointsProcessor xy_xray_points_processor(
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carto::io::XRayPointsProcessor xy_xray_points_processor(
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voxel_size, carto::transform::Rigid3f::Rotation(
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voxel_size,
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carto::transform::Rigid3f::Rotation(
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Eigen::AngleAxisf(-M_PI / 2.f, Eigen::Vector3f::UnitY())),
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Eigen::AngleAxisf(-M_PI / 2.f, Eigen::Vector3f::UnitY())),
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{}, stem + "_xray_xy", file_writer_factory, &null_points_processor);
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{}, stem + "_xray_xy", file_writer_factory, &null_points_processor);
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carto::io::XRayPointsProcessor yz_xray_points_processor(
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carto::io::XRayPointsProcessor yz_xray_points_processor(
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voxel_size, carto::transform::Rigid3f::Rotation(
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voxel_size,
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carto::transform::Rigid3f::Rotation(
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Eigen::AngleAxisf(M_PI, Eigen::Vector3f::UnitZ())),
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Eigen::AngleAxisf(M_PI, Eigen::Vector3f::UnitZ())),
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{}, stem + "_xray_yz", file_writer_factory, &xy_xray_points_processor);
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{}, stem + "_xray_yz", file_writer_factory, &xy_xray_points_processor);
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carto::io::XRayPointsProcessor xz_xray_points_processor(
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carto::io::XRayPointsProcessor xz_xray_points_processor(
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voxel_size, carto::transform::Rigid3f::Rotation(
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voxel_size,
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carto::transform::Rigid3f::Rotation(
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Eigen::AngleAxisf(-M_PI / 2.f, Eigen::Vector3f::UnitZ())),
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Eigen::AngleAxisf(-M_PI / 2.f, Eigen::Vector3f::UnitZ())),
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{}, stem + "_xray_xz", file_writer_factory, &yz_xray_points_processor);
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{}, stem + "_xray_xz", file_writer_factory, &yz_xray_points_processor);
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carto::io::PlyWritingPointsProcessor ply_writing_points_processor(
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carto::io::PlyWritingPointsProcessor ply_writing_points_processor(
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@ -86,7 +89,7 @@ void Write3DAssets(
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for (const auto& node : all_trajectory_nodes[trajectory_id]) {
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for (const auto& node : all_trajectory_nodes[trajectory_id]) {
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const carto::sensor::RangeData range_data =
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const carto::sensor::RangeData range_data =
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carto::sensor::TransformRangeData(
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carto::sensor::TransformRangeData(
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carto::sensor::Decompress(node.constant_data->range_data_3d),
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carto::sensor::Decompress(node.constant_data->range_data),
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node.pose.cast<float>());
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node.pose.cast<float>());
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auto points_batch = carto::common::make_unique<carto::io::PointsBatch>();
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auto points_batch = carto::common::make_unique<carto::io::PointsBatch>();
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points_batch->time = node.time();
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points_batch->time = node.time();
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@ -36,7 +36,7 @@ Eigen::AlignedBox2f ComputeMapBoundingBox2D(
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const auto& data = *node.constant_data;
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const auto& data = *node.constant_data;
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::cartographer::sensor::RangeData range_data;
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::cartographer::sensor::RangeData range_data;
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range_data = ::cartographer::sensor::TransformRangeData(
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range_data = ::cartographer::sensor::TransformRangeData(
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data.range_data_2d, node.pose.cast<float>());
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Decompress(data.range_data), node.pose.cast<float>());
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bounding_box.extend(range_data.origin.head<2>());
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bounding_box.extend(range_data.origin.head<2>());
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for (const Eigen::Vector3f& hit : range_data.returns) {
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for (const Eigen::Vector3f& hit : range_data.returns) {
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bounding_box.extend(hit.head<2>());
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bounding_box.extend(hit.head<2>());
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@ -72,9 +72,8 @@ void BuildOccupancyGrid2D(
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continue;
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continue;
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}
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}
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latest_time = std::max(latest_time, node.time());
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latest_time = std::max(latest_time, node.time());
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CHECK(node.constant_data->range_data_3d.returns.empty());
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range_data_inserter.Insert(carto::sensor::TransformRangeData(
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range_data_inserter.Insert(
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Decompress(node.constant_data->range_data),
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carto::sensor::TransformRangeData(node.constant_data->range_data_2d,
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node.pose.cast<float>()),
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node.pose.cast<float>()),
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&probability_grid);
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&probability_grid);
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}
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}
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@ -31,12 +31,11 @@ TEST(OccupancyGridTest, ComputeMapLimits) {
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const TrajectoryNode trajectory_node{
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const TrajectoryNode trajectory_node{
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std::make_shared<TrajectoryNode::Data>(TrajectoryNode::Data{
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std::make_shared<TrajectoryNode::Data>(TrajectoryNode::Data{
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::cartographer::common::FromUniversal(52),
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::cartographer::common::FromUniversal(52),
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::cartographer::sensor::RangeData{Eigen::Vector3f::Zero(),
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::cartographer::sensor::Compress(::cartographer::sensor::RangeData{
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Eigen::Vector3f::Zero(),
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{Eigen::Vector3f(-30.f, 1.f, 0.f),
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{Eigen::Vector3f(-30.f, 1.f, 0.f),
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Eigen::Vector3f(50.f, -10.f, 0.f)},
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Eigen::Vector3f(50.f, -10.f, 0.f)},
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{}},
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{}}),
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::cartographer::sensor::Compress(::cartographer::sensor::RangeData{
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Eigen::Vector3f::Zero(), {}, {}}),
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::cartographer::transform::Rigid3d::Identity()}),
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::cartographer::transform::Rigid3d::Identity()}),
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::cartographer::transform::Rigid3d::Identity()};
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::cartographer::transform::Rigid3d::Identity()};
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constexpr double kResolution = 0.05;
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constexpr double kResolution = 0.05;
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