Test Collator for multiple trajectories (#829)
gaschler
Christoph Schütte
parent
70e378b7c5
commit
d92040d0e6
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@ -19,10 +19,11 @@
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#include <array>
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#include <memory>
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#include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
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#include "cartographer/common/make_unique.h"
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#include "cartographer/common/time.h"
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#include "cartographer/sensor/proto/sensor.pb.h"
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#include "cartographer/sensor/imu_data.h"
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#include "cartographer/sensor/odometry_data.h"
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#include "cartographer/sensor/test_helpers.h"
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#include "cartographer/sensor/timed_point_cloud_data.h"
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#include "gtest/gtest.h"
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@ -30,62 +31,151 @@ namespace cartographer {
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namespace sensor {
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namespace {
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using test::CollatorInput;
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using test::CollatorOutput;
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TEST(Collator, Ordering) {
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const int kTrajectoryId = 0;
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const std::array<std::string, 4> kSensorId = {
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{"horizontal_rangefinder", "vertical_rangefinder", "imu", "odometry"}};
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TimedPointCloudData zero{
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common::FromUniversal(0), Eigen::Vector3f::Zero(), {}};
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TimedPointCloudData first{
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common::FromUniversal(100), Eigen::Vector3f::Zero(), {}};
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TimedPointCloudData second{
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common::FromUniversal(200), Eigen::Vector3f::Zero(), {}};
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ImuData third{common::FromUniversal(300)};
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TimedPointCloudData fourth{
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common::FromUniversal(400), Eigen::Vector3f::Zero(), {}};
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TimedPointCloudData fifth{
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common::FromUniversal(500), Eigen::Vector3f::Zero(), {}};
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OdometryData sixth{common::FromUniversal(600),
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transform::Rigid3d::Identity()};
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std::vector<std::pair<std::string, common::Time>> received;
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std::vector<CollatorInput> input_data;
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// Send each sensor_id once to establish a common start time.
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input_data.push_back(
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CollatorInput::CreateTimedPointCloudData(kTrajectoryId, kSensorId[0], 0));
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input_data.push_back(
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CollatorInput::CreateTimedPointCloudData(kTrajectoryId, kSensorId[1], 0));
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input_data.push_back(
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CollatorInput::CreateImuData(kTrajectoryId, kSensorId[2], 0));
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input_data.push_back(
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CollatorInput::CreateOdometryData(kTrajectoryId, kSensorId[3], 0));
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input_data.push_back(CollatorInput::CreateTimedPointCloudData(
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kTrajectoryId, kSensorId[0], 100));
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input_data.push_back(CollatorInput::CreateTimedPointCloudData(
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kTrajectoryId, kSensorId[1], 200));
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input_data.push_back(
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CollatorInput::CreateImuData(kTrajectoryId, kSensorId[2], 300));
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input_data.push_back(CollatorInput::CreateTimedPointCloudData(
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kTrajectoryId, kSensorId[0], 400));
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input_data.push_back(CollatorInput::CreateTimedPointCloudData(
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kTrajectoryId, kSensorId[1], 500));
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input_data.push_back(
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CollatorInput::CreateOdometryData(kTrajectoryId, kSensorId[3], 600));
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std::vector<CollatorOutput> received;
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Collator collator;
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collator.AddTrajectory(
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0, std::unordered_set<std::string>(kSensorId.begin(), kSensorId.end()),
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[&received](const std::string& sensor_id, std::unique_ptr<Data> data) {
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received.push_back(std::make_pair(sensor_id, data->GetTime()));
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kTrajectoryId,
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std::unordered_set<std::string>(kSensorId.begin(), kSensorId.end()),
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[&received, kTrajectoryId](const std::string& sensor_id,
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std::unique_ptr<Data> data) {
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received.push_back(CollatorOutput(kTrajectoryId, data->GetSensorId(),
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data->GetTime()));
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});
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constexpr int kTrajectoryId = 0;
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input_data[0].MoveToCollator(&collator);
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input_data[1].MoveToCollator(&collator);
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input_data[2].MoveToCollator(&collator);
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input_data[3].MoveToCollator(&collator);
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// Establish a common start time.
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collator.AddSensorData(kTrajectoryId, MakeDispatchable(kSensorId[0], zero));
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collator.AddSensorData(kTrajectoryId, MakeDispatchable(kSensorId[1], zero));
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collator.AddSensorData(kTrajectoryId, MakeDispatchable(kSensorId[2], zero));
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collator.AddSensorData(kTrajectoryId, MakeDispatchable(kSensorId[3], zero));
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collator.AddSensorData(kTrajectoryId, MakeDispatchable(kSensorId[0], first));
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collator.AddSensorData(kTrajectoryId, MakeDispatchable(kSensorId[3], sixth));
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collator.AddSensorData(kTrajectoryId, MakeDispatchable(kSensorId[0], fourth));
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collator.AddSensorData(kTrajectoryId, MakeDispatchable(kSensorId[1], second));
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collator.AddSensorData(kTrajectoryId, MakeDispatchable(kSensorId[1], fifth));
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collator.AddSensorData(kTrajectoryId, MakeDispatchable(kSensorId[2], third));
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input_data[4].MoveToCollator(&collator);
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input_data[9].MoveToCollator(&collator);
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input_data[7].MoveToCollator(&collator);
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input_data[5].MoveToCollator(&collator);
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input_data[8].MoveToCollator(&collator);
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input_data[6].MoveToCollator(&collator);
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EXPECT_EQ(kTrajectoryId, collator.GetBlockingTrajectoryId().value());
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ASSERT_EQ(7, received.size());
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EXPECT_EQ(100, common::ToUniversal(received[4].second));
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EXPECT_EQ(kSensorId[0], received[4].first);
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EXPECT_EQ(200, common::ToUniversal(received[5].second));
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EXPECT_EQ(kSensorId[1], received[5].first);
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EXPECT_EQ(300, common::ToUniversal(received[6].second));
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EXPECT_EQ(kSensorId[2], received[6].first);
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EXPECT_EQ(input_data[4].expected_output, received[4]);
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EXPECT_EQ(input_data[5].expected_output, received[5]);
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EXPECT_EQ(input_data[6].expected_output, received[6]);
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collator.FinishTrajectory(kTrajectoryId);
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collator.Flush();
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ASSERT_EQ(input_data.size(), received.size());
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for (size_t i = 4; i < input_data.size(); ++i) {
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EXPECT_EQ(input_data[i].expected_output, received[i]);
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}
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}
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ASSERT_EQ(10, received.size());
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EXPECT_EQ(kSensorId[0], received[7].first);
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EXPECT_EQ(500, common::ToUniversal(received[8].second));
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EXPECT_EQ(kSensorId[1], received[8].first);
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EXPECT_EQ(600, common::ToUniversal(received[9].second));
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EXPECT_EQ(kSensorId[3], received[9].first);
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TEST(Collator, OrderingMultipleTrajectories) {
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const int kTrajectoryId[] = {8, 5};
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const std::array<std::string, 2> kSensorId = {{"my_points", "some_imu"}};
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std::vector<CollatorInput> input_data;
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// Send each sensor_id once to establish a common start time.
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input_data.push_back(CollatorInput::CreateTimedPointCloudData(
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kTrajectoryId[0], kSensorId[0], 0));
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input_data.push_back(
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CollatorInput::CreateImuData(kTrajectoryId[0], kSensorId[1], 0));
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input_data.push_back(CollatorInput::CreateTimedPointCloudData(
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kTrajectoryId[1], kSensorId[0], 0));
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input_data.push_back(
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CollatorInput::CreateImuData(kTrajectoryId[1], kSensorId[1], 0));
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input_data.push_back(CollatorInput::CreateTimedPointCloudData(
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kTrajectoryId[0], kSensorId[0], 100));
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input_data.push_back(
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CollatorInput::CreateImuData(kTrajectoryId[1], kSensorId[1], 200));
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input_data.push_back(
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CollatorInput::CreateImuData(kTrajectoryId[0], kSensorId[1], 300));
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input_data.push_back(CollatorInput::CreateTimedPointCloudData(
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kTrajectoryId[1], kSensorId[0], 400));
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input_data.push_back(CollatorInput::CreateTimedPointCloudData(
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kTrajectoryId[1], kSensorId[0], 400));
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input_data.push_back(CollatorInput::CreateTimedPointCloudData(
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kTrajectoryId[1], kSensorId[0], 500));
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input_data.push_back(
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CollatorInput::CreateImuData(kTrajectoryId[1], kSensorId[1], 600));
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std::vector<CollatorOutput> received;
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Collator collator;
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collator.AddTrajectory(
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kTrajectoryId[0],
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std::unordered_set<std::string>(kSensorId.begin(), kSensorId.end()),
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[&received, kTrajectoryId](const std::string& sensor_id,
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std::unique_ptr<Data> data) {
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received.push_back(CollatorOutput(kTrajectoryId[0], data->GetSensorId(),
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data->GetTime()));
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});
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collator.AddTrajectory(
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kTrajectoryId[1],
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std::unordered_set<std::string>(kSensorId.begin(), kSensorId.end()),
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[&received, kTrajectoryId](const std::string& sensor_id,
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std::unique_ptr<Data> data) {
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received.push_back(CollatorOutput(kTrajectoryId[1], data->GetSensorId(),
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data->GetTime()));
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});
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input_data[0].MoveToCollator(&collator);
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input_data[1].MoveToCollator(&collator);
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input_data[2].MoveToCollator(&collator);
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input_data[3].MoveToCollator(&collator);
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input_data[4].MoveToCollator(&collator);
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input_data[6].MoveToCollator(&collator);
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EXPECT_EQ(kTrajectoryId[1], collator.GetBlockingTrajectoryId().value());
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input_data[7].MoveToCollator(&collator);
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input_data[8].MoveToCollator(&collator);
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EXPECT_EQ(kTrajectoryId[1], collator.GetBlockingTrajectoryId().value());
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input_data[5].MoveToCollator(&collator);
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EXPECT_EQ(kTrajectoryId[0], collator.GetBlockingTrajectoryId().value());
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input_data[10].MoveToCollator(&collator);
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input_data[9].MoveToCollator(&collator);
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EXPECT_EQ(kTrajectoryId[0], collator.GetBlockingTrajectoryId().value());
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ASSERT_EQ(5, received.size());
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EXPECT_EQ(input_data[4].expected_output, received[4]);
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collator.FinishTrajectory(kTrajectoryId[0]);
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collator.FinishTrajectory(kTrajectoryId[1]);
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collator.Flush();
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ASSERT_EQ(input_data.size(), received.size());
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for (size_t i = 4; i < input_data.size(); ++i) {
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EXPECT_EQ(input_data[i].expected_output, received[i]);
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}
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}
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} // namespace
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