From 902459e95cc979a19595f4fa31d536d40e8816bf Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Martin=20Schw=C3=B6rer?= Date: Fri, 6 Jul 2018 11:02:38 +0200 Subject: [PATCH] fixed casting of high_resolution_max_range (SubmapsOptions3D) (#1239) Fixed unintentional casting of high_resolution_max_range from double to int, to float In SubmapsOptions3D the parameter "high_resolution_max_range" is defined as double. In the code it gets casted to int when calling Submap3D::InsertRangeData and to float when calling FilterRangeDataByMaxRange. --- cartographer/mapping/3d/submap_3d.cc | 2 +- cartographer/mapping/3d/submap_3d.h | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/cartographer/mapping/3d/submap_3d.cc b/cartographer/mapping/3d/submap_3d.cc index af57a30..cb5709d 100644 --- a/cartographer/mapping/3d/submap_3d.cc +++ b/cartographer/mapping/3d/submap_3d.cc @@ -261,7 +261,7 @@ void Submap3D::ToResponseProto( void Submap3D::InsertRangeData(const sensor::RangeData& range_data, const RangeDataInserter3D& range_data_inserter, - const int high_resolution_max_range) { + const float high_resolution_max_range) { CHECK(!finished()); const sensor::RangeData transformed_range_data = sensor::TransformRangeData( range_data, local_pose().inverse().cast()); diff --git a/cartographer/mapping/3d/submap_3d.h b/cartographer/mapping/3d/submap_3d.h index 9fc6e0f..fd6b8f0 100644 --- a/cartographer/mapping/3d/submap_3d.h +++ b/cartographer/mapping/3d/submap_3d.h @@ -64,7 +64,7 @@ class Submap3D : public Submap { // submap must not be finished yet. void InsertRangeData(const sensor::RangeData& range_data, const RangeDataInserter3D& range_data_inserter, - int high_resolution_max_range); + float high_resolution_max_range); void Finish(); private: