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--- 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,
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