207 lines
7.6 KiB
C++
207 lines
7.6 KiB
C++
/*
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* Copyright 2016 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/2d/probability_grid.h"
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#include <random>
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#include "cartographer/mapping/probability_values.h"
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#include "gtest/gtest.h"
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namespace cartographer {
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namespace mapping {
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namespace {
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using Eigen::Array2i;
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using Eigen::Vector2f;
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TEST(ProbabilityGridTest, ProtoConstructor) {
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proto::Grid2D proto;
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const MapLimits limits(1., {2., 3.}, CellLimits(4., 5.));
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*proto.mutable_limits() = ToProto(limits);
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for (int i = 6; i < 12; ++i) {
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proto.mutable_cells()->Add(static_cast<uint16>(i));
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}
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proto.mutable_known_cells_box()->set_max_x(19);
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proto.mutable_known_cells_box()->set_max_y(20);
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proto.mutable_known_cells_box()->set_min_x(21);
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proto.mutable_known_cells_box()->set_min_y(22);
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proto.mutable_probability_grid_2d();
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ValueConversionTables conversion_tables;
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ProbabilityGrid grid(proto, &conversion_tables);
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EXPECT_EQ(proto.limits().DebugString(), ToProto(grid.limits()).DebugString());
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EXPECT_EQ(grid.GetGridType(), GridType::PROBABILITY_GRID);
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// TODO(macmason): Figure out how to test the contents of cells_ and
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// {min, max}_{x, y}_ gracefully.
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}
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TEST(ProbabilityGridTest, ConstructorGridType) {
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ValueConversionTables conversion_tables;
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ProbabilityGrid probability_grid(
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MapLimits(1., Eigen::Vector2d(1., 1.), CellLimits(2, 2)),
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&conversion_tables);
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EXPECT_EQ(probability_grid.GetGridType(), GridType::PROBABILITY_GRID);
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}
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TEST(ProbabilityGridTest, ToProto) {
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ValueConversionTables conversion_tables;
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ProbabilityGrid probability_grid(
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MapLimits(1., Eigen::Vector2d(1., 1.), CellLimits(2, 2)),
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&conversion_tables);
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const auto proto = probability_grid.ToProto();
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EXPECT_EQ(ToProto(probability_grid.limits()).DebugString(),
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proto.limits().DebugString());
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// TODO(macmason): Figure out how to test the contents of cells_ and
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// {min, max}_{x, y}_ gracefully.
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}
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TEST(ProbabilityGridTest, ApplyOdds) {
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ValueConversionTables conversion_tables;
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ProbabilityGrid probability_grid(
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MapLimits(1., Eigen::Vector2d(1., 1.), CellLimits(2, 2)),
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&conversion_tables);
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const MapLimits& limits = probability_grid.limits();
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EXPECT_TRUE(limits.Contains(Array2i(0, 0)));
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EXPECT_TRUE(limits.Contains(Array2i(0, 1)));
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EXPECT_TRUE(limits.Contains(Array2i(1, 0)));
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EXPECT_TRUE(limits.Contains(Array2i(1, 1)));
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EXPECT_FALSE(probability_grid.IsKnown(Array2i(0, 0)));
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EXPECT_FALSE(probability_grid.IsKnown(Array2i(0, 1)));
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EXPECT_FALSE(probability_grid.IsKnown(Array2i(1, 0)));
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EXPECT_FALSE(probability_grid.IsKnown(Array2i(1, 1)));
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probability_grid.SetProbability(Array2i(1, 0), 0.5);
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probability_grid.ApplyLookupTable(
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Array2i(1, 0),
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ComputeLookupTableToApplyCorrespondenceCostOdds(Odds(0.9)));
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probability_grid.FinishUpdate();
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EXPECT_GT(probability_grid.GetProbability(Array2i(1, 0)), 0.5);
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probability_grid.SetProbability(Array2i(0, 1), 0.5);
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probability_grid.ApplyLookupTable(
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Array2i(0, 1),
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ComputeLookupTableToApplyCorrespondenceCostOdds(Odds(0.1)));
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probability_grid.FinishUpdate();
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EXPECT_LT(probability_grid.GetProbability(Array2i(0, 1)), 0.5);
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// Tests adding odds to an unknown cell.
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probability_grid.ApplyLookupTable(
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Array2i(1, 1),
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ComputeLookupTableToApplyCorrespondenceCostOdds(Odds(0.42)));
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EXPECT_NEAR(probability_grid.GetProbability(Array2i(1, 1)), 0.42, 1e-4);
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// Tests that further updates are ignored if FinishUpdate() isn't called.
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probability_grid.ApplyLookupTable(
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Array2i(1, 1),
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ComputeLookupTableToApplyCorrespondenceCostOdds(Odds(0.9)));
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EXPECT_NEAR(probability_grid.GetProbability(Array2i(1, 1)), 0.42, 1e-4);
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probability_grid.FinishUpdate();
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probability_grid.ApplyLookupTable(
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Array2i(1, 1),
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ComputeLookupTableToApplyCorrespondenceCostOdds(Odds(0.9)));
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EXPECT_GT(probability_grid.GetProbability(Array2i(1, 1)), 0.42);
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}
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TEST(ProbabilityGridTest, GetProbability) {
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ValueConversionTables conversion_tables;
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ProbabilityGrid probability_grid(
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MapLimits(1., Eigen::Vector2d(1., 2.), CellLimits(2, 2)),
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&conversion_tables);
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const MapLimits& limits = probability_grid.limits();
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EXPECT_EQ(1., limits.max().x());
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EXPECT_EQ(2., limits.max().y());
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const CellLimits& cell_limits = limits.cell_limits();
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ASSERT_EQ(2, cell_limits.num_x_cells);
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ASSERT_EQ(2, cell_limits.num_y_cells);
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probability_grid.SetProbability(limits.GetCellIndex(Vector2f(-0.5f, 0.5f)),
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kMaxProbability);
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EXPECT_NEAR(probability_grid.GetProbability(
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limits.GetCellIndex(Vector2f(-0.5f, 0.5f))),
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kMaxProbability, 1e-6);
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for (const Array2i& xy_index : {limits.GetCellIndex(Vector2f(-0.5f, 1.5f)),
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limits.GetCellIndex(Vector2f(0.5f, 0.5f)),
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limits.GetCellIndex(Vector2f(0.5f, 1.5f))}) {
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EXPECT_TRUE(limits.Contains(xy_index));
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EXPECT_FALSE(probability_grid.IsKnown(xy_index));
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}
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}
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TEST(ProbabilityGridTest, GetCellIndex) {
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ValueConversionTables conversion_tables;
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ProbabilityGrid probability_grid(
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MapLimits(2., Eigen::Vector2d(8., 14.), CellLimits(14, 8)),
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&conversion_tables);
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const MapLimits& limits = probability_grid.limits();
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const CellLimits& cell_limits = limits.cell_limits();
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ASSERT_EQ(14, cell_limits.num_x_cells);
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ASSERT_EQ(8, cell_limits.num_y_cells);
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EXPECT_TRUE(
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(Array2i(0, 0) == limits.GetCellIndex(Vector2f(7.f, 13.f))).all());
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EXPECT_TRUE(
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(Array2i(13, 0) == limits.GetCellIndex(Vector2f(7.f, -13.f))).all());
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EXPECT_TRUE(
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(Array2i(0, 7) == limits.GetCellIndex(Vector2f(-7.f, 13.f))).all());
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EXPECT_TRUE(
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(Array2i(13, 7) == limits.GetCellIndex(Vector2f(-7.f, -13.f))).all());
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// Check around the origin.
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EXPECT_TRUE(
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(Array2i(6, 3) == limits.GetCellIndex(Vector2f(0.5f, 0.5f))).all());
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EXPECT_TRUE(
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(Array2i(6, 3) == limits.GetCellIndex(Vector2f(1.5f, 1.5f))).all());
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EXPECT_TRUE(
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(Array2i(7, 3) == limits.GetCellIndex(Vector2f(0.5f, -0.5f))).all());
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EXPECT_TRUE(
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(Array2i(6, 4) == limits.GetCellIndex(Vector2f(-0.5f, 0.5f))).all());
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EXPECT_TRUE(
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(Array2i(7, 4) == limits.GetCellIndex(Vector2f(-0.5f, -0.5f))).all());
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}
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TEST(ProbabilityGridTest, CorrectCropping) {
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// Create a probability grid with random values.
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std::mt19937 rng(42);
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std::uniform_real_distribution<float> value_distribution(kMinProbability,
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kMaxProbability);
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ValueConversionTables conversion_tables;
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ProbabilityGrid probability_grid(
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MapLimits(0.05, Eigen::Vector2d(10., 10.), CellLimits(400, 400)),
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&conversion_tables);
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for (const Array2i& xy_index :
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XYIndexRangeIterator(Array2i(100, 100), Array2i(299, 299))) {
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probability_grid.SetProbability(xy_index, value_distribution(rng));
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}
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Array2i offset;
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CellLimits limits;
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probability_grid.ComputeCroppedLimits(&offset, &limits);
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EXPECT_TRUE((offset == Array2i(100, 100)).all());
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EXPECT_EQ(limits.num_x_cells, 200);
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EXPECT_EQ(limits.num_y_cells, 200);
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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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