Integration tests for local slam. (#734)

cartographer/mapping/map_builder_test.cc

@@ -31,6 +31,40 @@ namespace cartographer {
 namespace mapping {
 namespace {
 
+constexpr char kRangeSensorId[] = "range";
+constexpr char kIMUSensorId[] = "imu";
+constexpr double kDuration = 2.;
+constexpr double kTimeStep = 0.1;
+constexpr double kTravelDistance = 0.4;
+
+struct FakeRangeMeasurement {
+  common::Time time;
+  sensor::TimedPointCloud ranges;
+};
+
+std::vector<FakeRangeMeasurement> GenerateFakeRangeMeasurements() {
+  std::vector<FakeRangeMeasurement> measurements;
+  sensor::TimedPointCloud point_cloud;
+  for (double angle = 0.; angle < M_PI; angle += 0.01) {
+    constexpr double kRadius = 5;
+    point_cloud.emplace_back(kRadius * std::cos(angle),
+                             kRadius * std::sin(angle), 0., 0.);
+  }
+  const Eigen::Vector3f kDirection = Eigen::Vector3f(2., 1., 0.).normalized();
+  const Eigen::Vector3f kVelocity = kTravelDistance / kDuration * kDirection;
+  for (double elapsed_time = 0.; elapsed_time < kDuration;
+       elapsed_time += kTimeStep) {
+    common::Time time =
+        common::FromUniversal(123) + common::FromSeconds(elapsed_time);
+    transform::Rigid3f pose =
+        transform::Rigid3f::Translation(elapsed_time * kVelocity);
+    sensor::TimedPointCloud ranges =
+        sensor::TransformTimedPointCloud(point_cloud, pose.inverse());
+    measurements.emplace_back(FakeRangeMeasurement{time, ranges});
+  }
+  return measurements;
+}
+
 std::unique_ptr<::cartographer::common::LuaParameterDictionary>
 ResolveLuaParameters(const std::string& lua_code) {
   auto file_resolver = ::cartographer::common::make_unique<
@@ -45,40 +79,134 @@ ResolveLuaParameters(const std::string& lua_code) {
 class MapBuilderTest : public ::testing::Test {
  protected:
   void SetUp() override {
+    // Global SLAM optimization is not executed.
     const std::string kMapBuilderLua = R"text(
       include "map_builder.lua"
       MAP_BUILDER.use_trajectory_builder_2d = true
+      MAP_BUILDER.pose_graph.optimize_every_n_nodes = 0
       return MAP_BUILDER)text";
-    auto parameter_dictionary = ResolveLuaParameters(kMapBuilderLua);
+    auto map_builder_parameters = ResolveLuaParameters(kMapBuilderLua);
-    proto::MapBuilderOptions options =
+    map_builder_options_ =
-        CreateMapBuilderOptions(parameter_dictionary.get());
+        CreateMapBuilderOptions(map_builder_parameters.get());
-    map_builder_ = common::make_unique<MapBuilder>(options);
+    // Multiple submaps are created because of a small 'num_range_data'.
+    const std::string kTrajectoryBuilderLua = R"text(
+      include "trajectory_builder.lua"
+      TRAJECTORY_BUILDER.trajectory_builder_2d.use_imu_data = false
+      TRAJECTORY_BUILDER.trajectory_builder_2d.submaps.num_range_data = 5
+      TRAJECTORY_BUILDER.trajectory_builder_3d.submaps.num_range_data = 5
+      return TRAJECTORY_BUILDER)text";
+    auto trajectory_builder_parameters =
+        ResolveLuaParameters(kTrajectoryBuilderLua);
+    trajectory_builder_options_ =
+        CreateTrajectoryBuilderOptions(trajectory_builder_parameters.get());
+  }
+
+  void BuildMapBuilder() {
+    map_builder_ = common::make_unique<MapBuilder>(map_builder_options_);
+  }
+
+  void SetOptionsTo3D() {
+    map_builder_options_.set_use_trajectory_builder_2d(false);
+    map_builder_options_.set_use_trajectory_builder_3d(true);
+  }
+
+  MapBuilderInterface::LocalSlamResultCallback GetLocalSlamResultCallback() {
+    return [=](const int trajectory_id, const ::cartographer::common::Time time,
+               const ::cartographer::transform::Rigid3d local_pose,
+               ::cartographer::sensor::RangeData range_data_in_local,
+               const std::unique_ptr<const ::cartographer::mapping::NodeId>) {
+      local_slam_result_poses_.push_back(local_pose);
+    };
   }
 
   std::unique_ptr<MapBuilderInterface> map_builder_;
+  proto::MapBuilderOptions map_builder_options_;
+  proto::TrajectoryBuilderOptions trajectory_builder_options_;
+  std::vector<::cartographer::transform::Rigid3d> local_slam_result_poses_;
 };
 
-TEST_F(MapBuilderTest, TrajectoryAddFinish) {
+TEST_F(MapBuilderTest, TrajectoryAddFinish2D) {
-  const std::string kRangeSensorId = "lidar";
+  BuildMapBuilder();
-  const std::string kTrajectoryBuilderLua = R"text(
-      include "trajectory_builder.lua"
-      TRAJECTORY_BUILDER.trajectory_builder_2d.use_imu_data = false
-      return TRAJECTORY_BUILDER)text";
   const std::unordered_set<std::string> expected_sensor_ids = {kRangeSensorId};
-  auto trajectory_builder_parameters =
-      ResolveLuaParameters(kTrajectoryBuilderLua);
-  proto::TrajectoryBuilderOptions trajectory_options =
-      CreateTrajectoryBuilderOptions(trajectory_builder_parameters.get());
   int trajectory_id = map_builder_->AddTrajectoryBuilder(
-      expected_sensor_ids, trajectory_options,
+      expected_sensor_ids, trajectory_builder_options_,
       nullptr /* local_slam_result_callback */);
   EXPECT_EQ(1, map_builder_->num_trajectory_builders());
   EXPECT_TRUE(map_builder_->GetTrajectoryBuilder(trajectory_id) != nullptr);
   EXPECT_TRUE(map_builder_->pose_graph() != nullptr);
   map_builder_->FinishTrajectory(trajectory_id);
+  map_builder_->pose_graph()->RunFinalOptimization();
   EXPECT_TRUE(map_builder_->pose_graph()->IsTrajectoryFinished(trajectory_id));
 }
 
+TEST_F(MapBuilderTest, TrajectoryAddFinish3D) {
+  SetOptionsTo3D();
+  BuildMapBuilder();
+  const std::unordered_set<std::string> expected_sensor_ids = {kRangeSensorId};
+  int trajectory_id = map_builder_->AddTrajectoryBuilder(
+      expected_sensor_ids, trajectory_builder_options_,
+      nullptr /* local_slam_result_callback */);
+  EXPECT_EQ(1, map_builder_->num_trajectory_builders());
+  EXPECT_TRUE(map_builder_->GetTrajectoryBuilder(trajectory_id) != nullptr);
+  EXPECT_TRUE(map_builder_->pose_graph() != nullptr);
+  map_builder_->FinishTrajectory(trajectory_id);
+  map_builder_->pose_graph()->RunFinalOptimization();
+  EXPECT_TRUE(map_builder_->pose_graph()->IsTrajectoryFinished(trajectory_id));
+}
+
+TEST_F(MapBuilderTest, LocalSlam2D) {
+  BuildMapBuilder();
+  const std::unordered_set<std::string> expected_sensor_ids = {kRangeSensorId};
+  int trajectory_id = map_builder_->AddTrajectoryBuilder(
+      expected_sensor_ids, trajectory_builder_options_,
+      GetLocalSlamResultCallback());
+  TrajectoryBuilder* trajectory_builder =
+      map_builder_->GetTrajectoryBuilder(trajectory_id);
+  const auto measurements = GenerateFakeRangeMeasurements();
+  for (const auto& measurement : measurements) {
+    trajectory_builder->AddRangefinderData(kRangeSensorId, measurement.time,
+                                           Eigen::Vector3f::Zero(),
+                                           measurement.ranges);
+  }
+  map_builder_->FinishTrajectory(trajectory_id);
+  map_builder_->pose_graph()->RunFinalOptimization();
+  EXPECT_EQ(local_slam_result_poses_.size(), measurements.size());
+  EXPECT_NEAR(kTravelDistance,
+              (local_slam_result_poses_.back().translation() -
+               local_slam_result_poses_.front().translation())
+                  .norm(),
+              0.1 * kTravelDistance);
+}
+
+TEST_F(MapBuilderTest, LocalSlam3D) {
+  SetOptionsTo3D();
+  BuildMapBuilder();
+  const std::unordered_set<std::string> expected_sensor_ids = {kRangeSensorId,
+                                                               kIMUSensorId};
+  int trajectory_id = map_builder_->AddTrajectoryBuilder(
+      expected_sensor_ids, trajectory_builder_options_,
+      GetLocalSlamResultCallback());
+  TrajectoryBuilder* trajectory_builder =
+      map_builder_->GetTrajectoryBuilder(trajectory_id);
+  const auto measurements = GenerateFakeRangeMeasurements();
+  for (const auto& measurement : measurements) {
+    trajectory_builder->AddRangefinderData(kRangeSensorId, measurement.time,
+                                           Eigen::Vector3f::Zero(),
+                                           measurement.ranges);
+    trajectory_builder->AddImuData(kIMUSensorId, measurement.time,
+                                   Eigen::Vector3d(0., 0., 9.8),
+                                   Eigen::Vector3d::Zero());
+  }
+  map_builder_->FinishTrajectory(trajectory_id);
+  map_builder_->pose_graph()->RunFinalOptimization();
+  EXPECT_EQ(local_slam_result_poses_.size(), measurements.size());
+  EXPECT_NEAR(kTravelDistance,
+              (local_slam_result_poses_.back().translation() -
+               local_slam_result_poses_.front().translation())
+                  .norm(),
+              0.1 * kTravelDistance);
+}
+
 }  // namespace
 }  // namespace mapping
 }  // namespace cartographer