95 lines
3.3 KiB
C++
95 lines
3.3 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/submaps.h"
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#include <map>
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#include <memory>
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#include <set>
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#include <string>
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#include "cartographer/common/lua_parameter_dictionary.h"
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#include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
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#include "cartographer/common/port.h"
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#include "cartographer/transform/transform.h"
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#include "gmock/gmock.h"
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namespace cartographer {
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namespace mapping_2d {
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namespace {
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TEST(SubmapsTest, TheRightNumberOfScansAreInserted) {
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constexpr int kNumRangeData = 10;
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auto parameter_dictionary = common::MakeDictionary(
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"return {"
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"resolution = 0.05, "
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"num_range_data = " +
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std::to_string(kNumRangeData) +
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", "
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"range_data_inserter = {"
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"insert_free_space = true, "
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"hit_probability = 0.53, "
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"miss_probability = 0.495, "
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"},"
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"}");
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ActiveSubmaps submaps{CreateSubmapsOptions(parameter_dictionary.get())};
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std::set<std::shared_ptr<Submap>> all_submaps;
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for (int i = 0; i != 1000; ++i) {
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submaps.InsertRangeData({Eigen::Vector3f::Zero(), {}, {}});
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// Except for the first, maps should only be returned after enough scans.
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for (const auto& submap : submaps.submaps()) {
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all_submaps.insert(submap);
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}
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if (submaps.matching_index() != 0) {
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EXPECT_LE(kNumRangeData, submaps.submaps().front()->num_range_data());
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}
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}
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int correct_num_scans = 0;
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for (const auto& submap : all_submaps) {
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if (submap->num_range_data() == kNumRangeData * 2) {
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++correct_num_scans;
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}
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}
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// Submaps should not be left without the right number of scans in them.
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EXPECT_EQ(correct_num_scans, all_submaps.size() - 2);
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}
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TEST(SubmapsTest, ToFromProto) {
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Submap expected(MapLimits(1., Eigen::Vector2d(2., 3.), CellLimits(100, 110)),
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Eigen::Vector2f(4.f, 5.f));
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mapping::proto::Submap proto;
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expected.ToProto(&proto);
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EXPECT_TRUE(proto.has_submap_2d());
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EXPECT_FALSE(proto.has_submap_3d());
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const auto actual = Submap(proto.submap_2d());
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EXPECT_TRUE(expected.local_pose().translation().isApprox(
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actual.local_pose().translation(), 1e-6));
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EXPECT_TRUE(expected.local_pose().rotation().isApprox(
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actual.local_pose().rotation(), 1e-6));
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EXPECT_EQ(expected.num_range_data(), actual.num_range_data());
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EXPECT_EQ(expected.finished(), actual.finished());
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EXPECT_NEAR(expected.probability_grid().limits().resolution(),
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actual.probability_grid().limits().resolution(), 1e-6);
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EXPECT_TRUE(expected.probability_grid().limits().max().isApprox(
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actual.probability_grid().limits().max(), 1e-6));
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EXPECT_EQ(expected.probability_grid().limits().cell_limits().num_x_cells,
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actual.probability_grid().limits().cell_limits().num_x_cells);
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}
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} // namespace
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} // namespace mapping_2d
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} // namespace cartographer
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