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Follow cartographer. (#600) 

Follow googlecartographer/cartographer#684.
master
Holger Rapp 2017-11-16 16:47:21 +01:00 committed by Wally B. Feed
parent f241a679a9
commit a10dea9c11
1 changed files with 4 additions and 5 deletions
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9
cartographer_ros/cartographer_ros/occupancy_grid_node_main.cc
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@ -141,10 +141,9 @@ void Node::HandleSubmapList(
// Properly dealing with a non-common stride would make this code much more // Properly dealing with a non-common stride would make this code much more
// complicated. Let's check that it is not needed. // complicated. Let's check that it is not needed.
const int expected_stride = 4 * submap_slice.width; const int expected_stride = 4 * submap_slice.width;
// TODO(jihoonl): Refactor here out to remove kCairoFormat dependency
CHECK_EQ(expected_stride, CHECK_EQ(expected_stride,
cairo_format_stride_for_width( cairo_format_stride_for_width(::cartographer::io::kCairoFormat,
PaintSubmapSlicesResult::kCairoFormat, submap_slice.width)); submap_slice.width));
submap_slice.cairo_data.clear(); submap_slice.cairo_data.clear();
for (size_t i = 0; i < fetched_texture->intensity.size(); ++i) { for (size_t i = 0; i < fetched_texture->intensity.size(); ++i) {
// We use the red channel to track intensity information. The green // We use the red channel to track intensity information. The green
@ -159,7 +158,7 @@ void Node::HandleSubmapList(
submap_slice.surface = ::cartographer::io::MakeUniqueCairoSurfacePtr( submap_slice.surface = ::cartographer::io::MakeUniqueCairoSurfacePtr(
cairo_image_surface_create_for_data( cairo_image_surface_create_for_data(
reinterpret_cast<unsigned char*>(submap_slice.cairo_data.data()), reinterpret_cast<unsigned char*>(submap_slice.cairo_data.data()),
PaintSubmapSlicesResult::kCairoFormat, submap_slice.width, ::cartographer::io::kCairoFormat, submap_slice.width,
submap_slice.height, expected_stride)); submap_slice.height, expected_stride));
CHECK_EQ(cairo_surface_status(submap_slice.surface.get()), CHECK_EQ(cairo_surface_status(submap_slice.surface.get()),
CAIRO_STATUS_SUCCESS) CAIRO_STATUS_SUCCESS)
@ -182,7 +181,7 @@ void Node::DrawAndPublish(const ::ros::WallTimerEvent& unused_timer_event) {
} }
::cartographer::common::MutexLocker locker(&mutex_); ::cartographer::common::MutexLocker locker(&mutex_);
auto painted_slices = PaintSubmapSlices(&submap_slices_, resolution_); auto painted_slices = PaintSubmapSlices(submap_slices_, resolution_);
PublishOccupancyGrid(last_frame_id_, last_timestamp_, painted_slices.origin, PublishOccupancyGrid(last_frame_id_, last_timestamp_, painted_slices.origin,
painted_slices.surface.get()); painted_slices.surface.get());
} }