122 lines
4.5 KiB
C++
122 lines
4.5 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/sensor/trajectory_collator.h"
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#include <array>
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#include <memory>
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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/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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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(TrajectoryCollator, OrderingMultipleTrajectories) {
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const int kTrajectoryId[] = {4, 7};
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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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input_data.push_back(CollatorInput::CreateTimedPointCloudData(
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kTrajectoryId[0], kSensorId[0], 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(
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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], 100));
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input_data.push_back(CollatorInput::CreateTimedPointCloudData(
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kTrajectoryId[0], kSensorId[0], 50));
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input_data.push_back(
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CollatorInput::CreateImuData(kTrajectoryId[0], kSensorId[1], 60));
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input_data.push_back(CollatorInput::CreateTimedPointCloudData(
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kTrajectoryId[1], kSensorId[0], 150));
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input_data.push_back(
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CollatorInput::CreateImuData(kTrajectoryId[1], kSensorId[1], 120));
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std::vector<CollatorOutput> received;
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TrajectoryCollator 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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// Send each sensor_id once to establish a common start time.
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input_data[0].MoveToCollator(&collator);
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input_data[1].MoveToCollator(&collator);
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EXPECT_EQ(0, received.size());
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input_data[2].MoveToCollator(&collator);
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input_data[3].MoveToCollator(&collator);
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EXPECT_EQ(2, received.size());
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EXPECT_EQ(input_data[1].expected_output, received[0]);
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EXPECT_EQ(input_data[0].expected_output, received[1]);
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// Does not wait for other trajectory.
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input_data[4].MoveToCollator(&collator);
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EXPECT_EQ(3, received.size());
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EXPECT_EQ(input_data[2].expected_output, received[2]);
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input_data[5].MoveToCollator(&collator);
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EXPECT_EQ(4, received.size());
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EXPECT_EQ(input_data[3].expected_output, received[3]);
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input_data[6].MoveToCollator(&collator);
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EXPECT_EQ(5, received.size());
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EXPECT_EQ(input_data[5].expected_output, received[4]);
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// Sorts different sensors.
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input_data[7].MoveToCollator(&collator);
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EXPECT_EQ(5, received.size());
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input_data[8].MoveToCollator(&collator);
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EXPECT_EQ(7, received.size());
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EXPECT_EQ(input_data[4].expected_output, received[5]);
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EXPECT_EQ(input_data[8].expected_output, received[6]);
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EXPECT_FALSE(collator.GetBlockingTrajectoryId().has_value());
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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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}
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} // namespace
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} // namespace sensor
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} // namespace cartographer
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