92 lines
3.6 KiB
C++
Executable File
92 lines
3.6 KiB
C++
Executable File
/*
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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 <cmath>
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#include "cartographer/transform/transform.h"
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#include "gmock/gmock.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 ::testing::ElementsAre;
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using ::testing::FloatNear;
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using ::testing::IsEmpty;
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TEST(PointCloudTest, TransformPointCloud) {
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PointCloud point_cloud;
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point_cloud.push_back({{Eigen::Vector3f{0.5f, 0.5f, 1.f}}});
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point_cloud.push_back({{Eigen::Vector3f{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].position.x(), 1e-6);
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EXPECT_NEAR(0.5f, transformed_point_cloud[0].position.y(), 1e-6);
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EXPECT_NEAR(-0.5f, transformed_point_cloud[1].position.x(), 1e-6);
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EXPECT_NEAR(3.5f, transformed_point_cloud[1].position.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.push_back({Eigen::Vector3f{0.5f, 0.5f, 1.f}, 0.f});
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point_cloud.push_back({Eigen::Vector3f{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].position.x(), 1e-6);
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EXPECT_NEAR(0.5f, transformed_point_cloud[0].position.y(), 1e-6);
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EXPECT_NEAR(-0.5f, transformed_point_cloud[1].position.x(), 1e-6);
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EXPECT_NEAR(3.5f, transformed_point_cloud[1].position.y(), 1e-6);
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}
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TEST(PointCloudTest, CopyIf) {
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std::vector<RangefinderPoint> points = {
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{{0.f, 0.f, 0.f}}, {{1.f, 1.f, 1.f}}, {{2.f, 2.f, 2.f}}};
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const PointCloud point_cloud(points);
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const PointCloud copied_point_cloud = point_cloud.copy_if(
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[&](const RangefinderPoint& point) { return point.position.x() > 0.1f; });
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EXPECT_EQ(copied_point_cloud.size(), 2);
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EXPECT_THAT(copied_point_cloud.intensities(), IsEmpty());
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EXPECT_THAT(copied_point_cloud.points(),
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ElementsAre(RangefinderPoint{Eigen::Vector3f{1.f, 1.f, 1.f}},
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RangefinderPoint{Eigen::Vector3f{2.f, 2.f, 2.f}}));
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}
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TEST(PointCloudTest, CopyIfWithIntensities) {
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std::vector<RangefinderPoint> points = {
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{{0.f, 0.f, 0.f}}, {{1.f, 1.f, 1.f}}, {{2.f, 2.f, 2.f}}};
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std::vector<float> intensities = {0.f, 1.f, 2.f};
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const PointCloud point_cloud(points, intensities);
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const PointCloud copied_point_cloud = point_cloud.copy_if(
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[&](const RangefinderPoint& point) { return point.position.x() > 0.1f; });
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EXPECT_EQ(copied_point_cloud.size(), 2);
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EXPECT_EQ(copied_point_cloud.intensities().size(), 2);
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EXPECT_THAT(copied_point_cloud.points(),
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ElementsAre(RangefinderPoint{Eigen::Vector3f{1.f, 1.f, 1.f}},
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RangefinderPoint{Eigen::Vector3f{2.f, 2.f, 2.f}}));
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EXPECT_THAT(copied_point_cloud.intensities(),
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ElementsAre(FloatNear(1.f, 1e-6), FloatNear(2.f, 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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