Merge pull request #114 from ignitionrobotics/chapulina/5/revert_89

Revert "Apply noise evenly to scans and point clouds (#89)" and prep for 5.0.0~pre2

Author: chapulina

CMakeLists.txt

@@ -13,7 +13,7 @@ find_package(ignition-cmake2 REQUIRED)
 #============================================================================
 # Configure the project
 #============================================================================
-ign_configure_project(VERSION_SUFFIX pre1)
+ign_configure_project(VERSION_SUFFIX pre2)
 
 #============================================================================
 # Set project-specific options

Changelog.md

@@ -4,9 +4,6 @@
 
 ### Ignition Sensors 5.0.0 (20XX-XX-XX)
 
-1. Apply noise evenly to scans and point clouds
-    * [Pull request #89](https://github.com/ignitionrobotics/ign-sensors/pull/89)
-
 1. Bump in edifice: ign-common4
     * [Pull request #85](https://github.com/ignitionrobotics/ign-sensors/pull/85)
 

include/ignition/sensors/Lidar.hh

@@ -66,17 +66,17 @@ namespace ignition
       public: virtual bool Update(
         const std::chrono::steady_clock::duration &_now) override;
 
-      /// \brief Apply noise to the laser buffer, if noise has been
-      /// configured. This should be called before PublishLidarScan if you
-      /// want the scan data to contain noise.
-      public: void ApplyNoise();
-
       /// \brief Publish LaserScan message
       /// \param[in] _now The current time
       /// \return true if the update was successfull
       public: virtual bool IGN_DEPRECATED(4) PublishLidarScan(
         const ignition::common::Time &_now);
 
+      /// \brief Apply noise to the laser buffer, if noise has been
+      /// configured. This should be called before PublishLidarScan if you
+      /// want the scan data to contain noise.
+      public: void ApplyNoise();
+
       /// \brief Publish LaserScan message
       /// \param[in] _now The current time
       /// \return true if the update was successfull
@@ -248,14 +248,6 @@ namespace ignition
       // Documentation inherited
       public: virtual bool IsActive() const;
 
-      /// \brief Get the vertical resolution.
-      /// \return The vertical resolution.
-      public: double VerticalResolution() const;
-
-      /// \brief Get the horizontal resolution.
-      /// \return The horizontal resolution.
-      public: double HorizontalResolution() const;
-
       IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
       /// \brief Just a mutex for thread safety
       public: mutable std::mutex lidarMutex;

src/GpuLidarSensor.cc

@@ -198,9 +198,6 @@ bool GpuLidarSensor::CreateLidar()
   this->dataPtr->gpuRays->SetVerticalRayCount(
       this->VerticalRayCount());
 
-  this->dataPtr->gpuRays->SetHorizontalResolution(this->HorizontalResolution());
-  this->dataPtr->gpuRays->SetVerticalResolution(this->VerticalResolution());
-
   this->Scene()->RootVisual()->AddChild(
       this->dataPtr->gpuRays);
 
@@ -239,8 +236,8 @@ bool GpuLidarSensor::Update(const std::chrono::steady_clock::duration &_now)
     return false;
   }
 
-  int len = this->dataPtr->gpuRays->RangeCount() *
-    this->dataPtr->gpuRays->VerticalRangeCount() * 3;
+  int len = this->dataPtr->gpuRays->RayCount() *
+    this->dataPtr->gpuRays->VerticalRayCount() * 3;
 
   if (this->laserBuffer == nullptr)
   {

src/Lidar.cc

@@ -373,18 +373,6 @@ unsigned int Lidar::VerticalRangeCount() const
     return 1u;
 }
 
-//////////////////////////////////////////////////
-double Lidar::HorizontalResolution() const
-{
-  return this->dataPtr->sdfLidar.HorizontalScanResolution();
-}
-
-//////////////////////////////////////////////////
-double Lidar::VerticalResolution() const
-{
-  return this->dataPtr->sdfLidar.VerticalScanResolution();
-}
-
 //////////////////////////////////////////////////
 void Lidar::SetParent(const std::string &_parent)
 {

src/Lidar_TEST.cc

@@ -118,10 +118,10 @@ TEST(Lidar_TEST, CreateLaser)
   const std::string topic = "/ignition/sensors/test/lidar";
   const double update_rate = 30;
   const double horz_samples = 640;
-  const double horz_resolution = 2.0;
+  const double horz_resolution = 1;
   const double horz_min_angle = -1.396263;
   const double horz_max_angle = 1.396263;
-  const double vert_resolution = 0.5;
+  const double vert_resolution = 1;
   const double vert_samples = 1;
   const double vert_min_angle = 0;
   const double vert_max_angle = 0;
@@ -144,18 +144,15 @@ TEST(Lidar_TEST, CreateLaser)
   ASSERT_NE(nullptr, sensor);
 
   double angleRes = (sensor->AngleMax() - sensor->AngleMin()).Radian() /
-                    sensor->RangeCount();
+                    sensor->RayCount();
   EXPECT_EQ(sensor->AngleMin(), ignition::math::Angle(-1.396263));
   EXPECT_EQ(sensor->AngleMax(), ignition::math::Angle(1.396263));
   EXPECT_NEAR(sensor->RangeMin(), 0.08, 1e-6);
   EXPECT_NEAR(sensor->RangeMax(), 10.0, 1e-6);
   EXPECT_NEAR(sensor->AngleResolution(), angleRes, 1e-3);
   EXPECT_NEAR(sensor->RangeResolution(), 0.01, 1e-3);
   EXPECT_EQ(sensor->RayCount(), 640u);
-  EXPECT_EQ(sensor->RangeCount(),
-      static_cast<unsigned int>(horz_samples * horz_resolution));
-  EXPECT_NEAR(horz_resolution, sensor->HorizontalResolution(), 1e-3);
-  EXPECT_NEAR(vert_resolution, sensor->VerticalResolution(), 1e-3);
+  EXPECT_EQ(sensor->RangeCount(), 640u);
 
   EXPECT_EQ(sensor->VerticalRayCount(), 1u);
   EXPECT_EQ(sensor->VerticalRangeCount(), 1u);