diff options
Diffstat (limited to 'cartographer-adapt-eigen.patch')
| -rw-r--r-- | cartographer-adapt-eigen.patch | 40 |
1 files changed, 40 insertions, 0 deletions
diff --git a/cartographer-adapt-eigen.patch b/cartographer-adapt-eigen.patch new file mode 100644 index 0000000..d63f3b6 --- /dev/null +++ b/cartographer-adapt-eigen.patch @@ -0,0 +1,40 @@ +--- ros-humble-cartographer-2.0.9002/cartographer/mapping/internal/range_data_collator_test.cc 2022-04-20 08:00:55.000000000 +0800 ++++ ros-humble-cartographer-2.0.9002/cartographer/mapping/internal/range_data_collator_test.cc 2023-09-12 11:39:48.000000000 +0800 +@@ -31,7 +31,7 @@ + double duration = common::ToSeconds(common::FromUniversal(to) - + common::FromUniversal(from)); + sensor::TimedPointCloudData result{ +- common::FromUniversal(to), Eigen::Vector3f(0., 1., 2.), {}, {}}; ++ common::FromUniversal(to), Eigen::Vector3f(0., 1., 2.), {{Eigen::Vector3f::Zero(),0}}, {}}; + result.ranges.reserve(kNumSamples); + for (int i = 0; i < kNumSamples; ++i) { + double fraction = static_cast<double>(i) / (kNumSamples - 1); +@@ -92,7 +92,7 @@ + const std::string sensor_id = "single_sensor"; + RangeDataCollator collator({sensor_id}); + sensor::TimedPointCloudData empty_data{ +- common::FromUniversal(300), {}, {}, {}}; ++ common::FromUniversal(300), Eigen::Vector3f::Zero(), {{Eigen::Vector3f::Zero(),0}}, {}}; + 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()); +--- ros-humble-cartographer-2.0.9002/cartographer/sensor/internal/test_helpers.h 2022-04-20 08:00:55.000000000 +0800 ++++ ros-humble-cartographer-2.0.9002/cartographer/sensor/internal/test_helpers.h 2023-09-12 12:25:49.000000000 +0800 +@@ -47,7 +47,7 @@ + const std::string& sensor_id, int time) { + return CollatorInput{ + trajectory_id, +- MakeDispatchable(sensor_id, ImuData{common::FromUniversal(time)}), ++ MakeDispatchable(sensor_id, ImuData{common::FromUniversal(time),Eigen::Vector3d::Zero(),Eigen::Vector3d::Zero()}), + CollatorOutput{trajectory_id, sensor_id, common::FromUniversal(time)}}; + } + static CollatorInput CreateTimedPointCloudData(int trajectory_id, +@@ -58,7 +58,7 @@ + MakeDispatchable( + sensor_id, + TimedPointCloudData{ +- common::FromUniversal(time), Eigen::Vector3f::Zero(), {}}), ++ common::FromUniversal(time), Eigen::Vector3f::Zero(), {{Eigen::Vector3f::Zero(),0}}}), + CollatorOutput{trajectory_id, sensor_id, common::FromUniversal(time)}}; + } + static CollatorInput CreateOdometryData(int trajectory_id, |