55 lines
1.9 KiB
C++
55 lines
1.9 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/sensor/point_cloud.h"
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#include "cartographer/transform/transform.h"
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#include <cmath>
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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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TEST(PointCloudTest, TransformPointCloud) {
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PointCloud point_cloud;
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point_cloud.emplace_back(0.5f, 0.5f, 1.f);
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point_cloud.emplace_back(3.5f, 0.5f, 42.f);
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const PointCloud transformed_point_cloud = TransformPointCloud(
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point_cloud, transform::Embed3D(transform::Rigid2f::Rotation(M_PI_2)));
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EXPECT_NEAR(-0.5f, transformed_point_cloud[0].x(), 1e-6);
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EXPECT_NEAR(0.5f, transformed_point_cloud[0].y(), 1e-6);
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EXPECT_NEAR(-0.5f, transformed_point_cloud[1].x(), 1e-6);
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EXPECT_NEAR(3.5f, transformed_point_cloud[1].y(), 1e-6);
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}
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TEST(PointCloudTest, TransformTimedPointCloud) {
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TimedPointCloud point_cloud;
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point_cloud.emplace_back(0.5f, 0.5f, 1.f, 0.f);
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point_cloud.emplace_back(3.5f, 0.5f, 42.f, 0.f);
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const TimedPointCloud transformed_point_cloud = TransformTimedPointCloud(
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point_cloud, transform::Embed3D(transform::Rigid2f::Rotation(M_PI_2)));
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EXPECT_NEAR(-0.5f, transformed_point_cloud[0].x(), 1e-6);
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EXPECT_NEAR(0.5f, transformed_point_cloud[0].y(), 1e-6);
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EXPECT_NEAR(-0.5f, transformed_point_cloud[1].x(), 1e-6);
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EXPECT_NEAR(3.5f, transformed_point_cloud[1].y(), 1e-6);
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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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