106 lines
4.2 KiB
C++
106 lines
4.2 KiB
C++
/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/mapping/internal/3d/pose_graph_3d.h"
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#include "cartographer/mapping/internal/test_helpers.h"
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#include "cartographer/mapping/proto/serialization.pb.h"
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#include "cartographer/transform/rigid_transform.h"
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#include "cartographer/transform/rigid_transform_test_helpers.h"
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#include "cartographer/transform/transform.h"
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#include "gmock/gmock.h"
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#include "google/protobuf/util/message_differencer.h"
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namespace cartographer {
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namespace mapping {
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namespace {
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class PoseGraph3DForTesting : public PoseGraph3D {
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public:
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PoseGraph3DForTesting(const proto::PoseGraphOptions& options,
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common::ThreadPool* thread_pool)
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: PoseGraph3D(options,
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common::make_unique<pose_graph::OptimizationProblem3D>(
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options.optimization_problem_options()),
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thread_pool) {}
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void WaitForAllComputations() { PoseGraph3D::WaitForAllComputations(); }
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};
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class PoseGraph3DTest : public ::testing::Test {
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protected:
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PoseGraph3DTest()
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: thread_pool_(common::make_unique<common::ThreadPool>(1)) {}
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void SetUp() override {
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const std::string kPoseGraphLua = R"text(
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include "pose_graph.lua"
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return POSE_GRAPH)text";
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auto pose_graph_parameters = test::ResolveLuaParameters(kPoseGraphLua);
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pose_graph_options_ = CreatePoseGraphOptions(pose_graph_parameters.get());
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pose_graph_ = common::make_unique<PoseGraph3DForTesting>(
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pose_graph_options_, thread_pool_.get());
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}
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proto::PoseGraphOptions pose_graph_options_;
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std::unique_ptr<common::ThreadPool> thread_pool_;
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std::unique_ptr<PoseGraph3DForTesting> pose_graph_;
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};
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TEST_F(PoseGraph3DTest, Empty) {
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pose_graph_->WaitForAllComputations();
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EXPECT_TRUE(pose_graph_->GetAllSubmapData().empty());
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EXPECT_TRUE(pose_graph_->constraints().empty());
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EXPECT_TRUE(pose_graph_->GetConnectedTrajectories().empty());
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EXPECT_TRUE(pose_graph_->GetAllSubmapPoses().empty());
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EXPECT_TRUE(pose_graph_->GetTrajectoryNodes().empty());
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EXPECT_TRUE(pose_graph_->GetTrajectoryNodePoses().empty());
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EXPECT_TRUE(pose_graph_->GetTrajectoryData().empty());
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proto::PoseGraph empty_proto;
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EXPECT_TRUE(google::protobuf::util::MessageDifferencer::Equals(
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pose_graph_->ToProto(), empty_proto));
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}
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TEST_F(PoseGraph3DTest, BasicSerialization) {
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proto::PoseGraph proto;
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auto fake_node = test::CreateFakeNode();
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test::AddToProtoGraph(fake_node, &proto);
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pose_graph_->AddNodeFromProto(transform::Rigid3d::Identity(), fake_node);
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auto fake_submap = test::CreateFakeSubmap3D();
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test::AddToProtoGraph(fake_submap, &proto);
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pose_graph_->AddSubmapFromProto(transform::Rigid3d::Identity(), fake_submap);
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test::AddToProtoGraph(test::CreateFakeConstraint(fake_node, fake_submap),
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&proto);
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pose_graph_->AddSerializedConstraints(FromProto(proto.constraint()));
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pose_graph_->WaitForAllComputations();
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proto::PoseGraph actual_proto = pose_graph_->ToProto();
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EXPECT_TRUE(google::protobuf::util::MessageDifferencer::Equals(
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proto.constraint(0), actual_proto.constraint(0)));
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EXPECT_TRUE(google::protobuf::util::MessageDifferencer::Equals(
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proto.trajectory(0).node(0), actual_proto.trajectory(0).node(0)));
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EXPECT_TRUE(google::protobuf::util::MessageDifferencer::Equals(
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proto.trajectory(0).submap(0), actual_proto.trajectory(0).submap(0)));
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EXPECT_TRUE(google::protobuf::util::MessageDifferencer::Equals(
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proto.trajectory(0), actual_proto.trajectory(0)));
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EXPECT_TRUE(
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google::protobuf::util::MessageDifferencer::Equals(proto, actual_proto));
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}
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} // namespace
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} // namespace mapping
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} // namespace cartographer
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