Fix Windows warnings
This commit is contained in:
Martin Idel
parent
48e676ff7f
commit
c985f5defc
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@ -82,7 +82,7 @@ void LaserProjection::projectLaser_(
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// Set the output cloud accordingly
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cloud_out.header = scan_in.header;
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cloud_out.height = 1;
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cloud_out.width = scan_in.ranges.size();
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cloud_out.width = static_cast<uint32_t>(scan_in.ranges.size());
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cloud_out.fields.resize(3);
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cloud_out.fields[0].name = "x";
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cloud_out.fields[0].offset = 0;
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@ -102,53 +102,53 @@ void LaserProjection::projectLaser_(
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idx_vpy = -1, idx_vpz = -1;
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// now, we need to check what fields we need to store
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int offset = 12;
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uint32_t offset = 12;
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if ((channel_options & channel_option::Intensity) && scan_in.intensities.size() > 0) {
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int field_size = cloud_out.fields.size();
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size_t field_size = cloud_out.fields.size();
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cloud_out.fields.resize(field_size + 1);
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cloud_out.fields[field_size].name = "intensity";
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cloud_out.fields[field_size].datatype = POINT_FIELD::FLOAT32;
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cloud_out.fields[field_size].offset = offset;
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cloud_out.fields[field_size].count = 1;
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offset += 4;
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idx_intensity = field_size;
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idx_intensity = static_cast<int>(field_size);
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}
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if ((channel_options & channel_option::Index)) {
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int field_size = cloud_out.fields.size();
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size_t field_size = cloud_out.fields.size();
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cloud_out.fields.resize(field_size + 1);
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cloud_out.fields[field_size].name = "index";
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cloud_out.fields[field_size].datatype = POINT_FIELD::INT32;
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cloud_out.fields[field_size].offset = offset;
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cloud_out.fields[field_size].count = 1;
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offset += 4;
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idx_index = field_size;
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idx_index = static_cast<int>(field_size);
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}
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if ((channel_options & channel_option::Distance)) {
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int field_size = cloud_out.fields.size();
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size_t field_size = cloud_out.fields.size();
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cloud_out.fields.resize(field_size + 1);
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cloud_out.fields[field_size].name = "distances";
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cloud_out.fields[field_size].datatype = POINT_FIELD::FLOAT32;
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cloud_out.fields[field_size].offset = offset;
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cloud_out.fields[field_size].count = 1;
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offset += 4;
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idx_distance = field_size;
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idx_distance = static_cast<int>(field_size);
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}
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if ((channel_options & channel_option::Timestamp)) {
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int field_size = cloud_out.fields.size();
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size_t field_size = cloud_out.fields.size();
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cloud_out.fields.resize(field_size + 1);
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cloud_out.fields[field_size].name = "stamps";
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cloud_out.fields[field_size].datatype = POINT_FIELD::FLOAT32;
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cloud_out.fields[field_size].offset = offset;
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cloud_out.fields[field_size].count = 1;
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offset += 4;
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idx_timestamp = field_size;
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idx_timestamp = static_cast<int>(field_size);
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}
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if ((channel_options & channel_option::Viewpoint)) {
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int field_size = cloud_out.fields.size();
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size_t field_size = cloud_out.fields.size();
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cloud_out.fields.resize(field_size + 3);
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cloud_out.fields[field_size].name = "vp_x";
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@ -169,9 +169,9 @@ void LaserProjection::projectLaser_(
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cloud_out.fields[field_size + 2].count = 1;
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offset += 4;
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idx_vpx = field_size;
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idx_vpy = field_size + 1;
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idx_vpz = field_size + 2;
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idx_vpx = static_cast<int>(field_size);
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idx_vpy = static_cast<int>(field_size + 1);
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idx_vpz = static_cast<int>(field_size + 2);
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}
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cloud_out.point_step = offset;
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@ -191,8 +191,8 @@ void LaserProjection::projectLaser_(
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auto pstep = reinterpret_cast<float *>(&cloud_out.data[count * cloud_out.point_step]);
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// Copy XYZ
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pstep[0] = output(i, 0);
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pstep[1] = output(i, 1);
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pstep[0] = static_cast<float>(output(i, 0));
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pstep[1] = static_cast<float>(output(i, 1));
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pstep[2] = 0;
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// Copy intensity
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@ -202,7 +202,7 @@ void LaserProjection::projectLaser_(
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// Copy index
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if (idx_index != -1) {
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reinterpret_cast<int *>(pstep)[idx_index] = i;
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reinterpret_cast<int *>(pstep)[idx_index] = static_cast<int>(i);
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}
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// Copy distance
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@ -345,9 +345,9 @@ void LaserProjection::transformLaserScanToPointCloud_(
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tf2::Vector3 point_out = cur_transform * point_in;
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// Copy transformed point into cloud
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pstep[0] = point_out.x();
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pstep[1] = point_out.y();
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pstep[2] = point_out.z();
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pstep[0] = static_cast<float>(point_out.x());
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pstep[1] = static_cast<float>(point_out.y());
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pstep[2] = static_cast<float>(point_out.z());
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// Convert the viewpoint as well
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if (has_viewpoint) {
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@ -357,9 +357,9 @@ void LaserProjection::transformLaserScanToPointCloud_(
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point_out = cur_transform * point_in;
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// Copy transformed point into cloud
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vpstep[0] = point_out.x();
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vpstep[1] = point_out.y();
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vpstep[2] = point_out.z();
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vpstep[0] = static_cast<float>(point_out.x());
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vpstep[1] = static_cast<float>(point_out.y());
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vpstep[2] = static_cast<float>(point_out.z());
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}
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}
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@ -426,7 +426,8 @@ void LaserProjection::transformLaserScanToPointCloud_(
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TIME end_time = scan_in.header.stamp;
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// TODO(anonymous): reconcile all the different time constructs
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if (!scan_in.ranges.empty()) {
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end_time = end_time + rclcpp::Duration((scan_in.ranges.size() - 1) * scan_in.time_increment, 0);
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end_time = end_time + rclcpp::Duration(
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static_cast<int>((scan_in.ranges.size() - 1) * scan_in.time_increment), 0);
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}
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std::chrono::nanoseconds start(start_time.nanoseconds());
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@ -27,8 +27,9 @@
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#define _USE_MATH_DEFINES
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#include <gtest/gtest.h>
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#include <math.h>
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#include <cmath>
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#include <vector>
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#include "rclcpp/rclcpp.hpp"
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@ -36,9 +37,10 @@
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#include "laser_geometry/laser_geometry.hpp"
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#include "sensor_msgs/msg/point_cloud2.hpp"
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#define PROJECTION_TEST_RANGE_MIN (0.23)
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#define PROJECTION_TEST_RANGE_MAX (40.0)
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#define PROJECTION_TEST_RANGE_MIN (0.23f)
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#define PROJECTION_TEST_RANGE_MAX (40.0f)
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#define PI static_cast<float>(M_PI)
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class BuildScanException
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{
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@ -46,16 +48,16 @@ class BuildScanException
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struct ScanOptions
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{
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double range_;
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double intensity_;
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double ang_min_;
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double ang_max_;
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double ang_increment_;
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float range_;
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float intensity_;
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float ang_min_;
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float ang_max_;
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float ang_increment_;
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rclcpp::Duration scan_time_;
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ScanOptions(
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double range, double intensity,
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double ang_min, double ang_max, double ang_increment,
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float range, float intensity,
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float ang_min, float ang_max, float ang_increment,
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rclcpp::Duration scan_time)
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: range_(range),
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intensity_(intensity),
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@ -77,7 +79,7 @@ sensor_msgs::msg::LaserScan build_constant_scan(const ScanOptions & options)
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scan.angle_min = options.ang_min_;
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scan.angle_max = options.ang_max_;
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scan.angle_increment = options.ang_increment_;
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scan.scan_time = options.scan_time_.nanoseconds();
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scan.scan_time = static_cast<float>(options.scan_time_.nanoseconds());
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scan.range_min = PROJECTION_TEST_RANGE_MIN;
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scan.range_max = PROJECTION_TEST_RANGE_MAX;
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uint32_t i = 0;
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@ -86,7 +88,8 @@ sensor_msgs::msg::LaserScan build_constant_scan(const ScanOptions & options)
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scan.intensities.push_back(options.intensity_);
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}
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scan.time_increment = options.scan_time_.nanoseconds() / static_cast<double>(i);
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scan.time_increment =
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static_cast<float>(options.scan_time_.nanoseconds() / static_cast<double>(i));
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return scan;
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}
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@ -101,39 +104,39 @@ TEST(laser_geometry, projectLaser2) {
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double tolerance = 1e-12;
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laser_geometry::LaserProjection projector;
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std::vector<double> ranges, intensities, min_angles, max_angles, angle_increments;
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std::vector<float> ranges, intensities, min_angles, max_angles, angle_increments;
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std::vector<rclcpp::Duration> increment_times, scan_times;
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ranges.push_back(-1.0);
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ranges.push_back(1.0);
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ranges.push_back(2.0);
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ranges.push_back(3.0);
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ranges.push_back(4.0);
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ranges.push_back(5.0);
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ranges.push_back(100.0);
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ranges.push_back(-1.0f);
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ranges.push_back(1.0f);
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ranges.push_back(2.0f);
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ranges.push_back(3.0f);
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ranges.push_back(4.0f);
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ranges.push_back(5.0f);
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ranges.push_back(100.0f);
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intensities.push_back(1.0);
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intensities.push_back(2.0);
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intensities.push_back(3.0);
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intensities.push_back(4.0);
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intensities.push_back(5.0);
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intensities.push_back(1.0f);
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intensities.push_back(2.0f);
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intensities.push_back(3.0f);
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intensities.push_back(4.0f);
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intensities.push_back(5.0f);
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min_angles.push_back(-M_PI);
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min_angles.push_back(-M_PI / 1.5);
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min_angles.push_back(-M_PI / 2);
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min_angles.push_back(-M_PI / 4);
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min_angles.push_back(-M_PI / 8);
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min_angles.push_back(-PI);
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min_angles.push_back(-PI / 1.5f);
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min_angles.push_back(-PI / 2);
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min_angles.push_back(-PI / 4);
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min_angles.push_back(-PI / 8);
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max_angles.push_back(M_PI);
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max_angles.push_back(M_PI / 1.5);
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max_angles.push_back(M_PI / 2);
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max_angles.push_back(M_PI / 4);
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max_angles.push_back(M_PI / 8);
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max_angles.push_back(PI);
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max_angles.push_back(PI / 1.5f);
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max_angles.push_back(PI / 2);
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max_angles.push_back(PI / 4);
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max_angles.push_back(PI / 8);
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angle_increments.push_back(-M_PI / 180); // -one degree
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angle_increments.push_back(M_PI / 180); // one degree
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angle_increments.push_back(M_PI / 360); // half degree
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angle_increments.push_back(M_PI / 720); // quarter degree
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angle_increments.push_back(-PI / 180); // -one degree
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angle_increments.push_back(PI / 180); // one degree
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angle_increments.push_back(PI / 360); // half degree
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angle_increments.push_back(PI / 720); // quarter degree
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scan_times.push_back(rclcpp::Duration(1 / 40));
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scan_times.push_back(rclcpp::Duration(1 / 20));
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@ -234,7 +237,8 @@ TEST(laser_geometry, projectLaser2) {
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EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + stamps_offset),
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(float)i * scan.time_increment, tolerance); // timestamps
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}
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} catch (BuildScanException & ex) {
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} catch (const BuildScanException & ex) {
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(void) ex;
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// make sure it is not a false exception
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if ((option.ang_max_ - option.ang_min_) / option.ang_increment_ > 0.0) {
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FAIL();
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