112 lines
4.0 KiB
C++
Executable File
112 lines
4.0 KiB
C++
Executable File
/*
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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/io/serialization_format_migration.h"
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#include <functional>
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#include <memory>
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#include "cartographer/io/internal/in_memory_proto_stream.h"
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#include "cartographer/mapping/internal/testing/test_helpers.h"
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#include "cartographer/mapping/proto/pose_graph.pb.h"
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#include "cartographer/mapping/proto/serialization.pb.h"
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#include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
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#include "cartographer/mapping/trajectory_node.h"
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#include "cartographer/transform/transform.h"
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#include "gmock/gmock.h"
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#include "google/protobuf/text_format.h"
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#include "gtest/gtest.h"
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namespace cartographer {
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namespace io {
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namespace {
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class SubmapHistogramMigrationTest : public ::testing::Test {
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protected:
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void SetUp() override {
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CreateSubmap();
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CreateNode();
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CreatePoseGraphWithNodeToSubmapConstraint();
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}
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private:
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void CreateSubmap() {
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submap_ = mapping::testing::CreateFakeSubmap3D();
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submap_.mutable_submap_3d()->clear_rotational_scan_matcher_histogram();
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}
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void CreateNode() {
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node_ = mapping::testing::CreateFakeNode();
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constexpr int histogram_size = 10;
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for (int i = 0; i < histogram_size; ++i) {
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node_.mutable_node_data()->add_rotational_scan_matcher_histogram(1.f);
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}
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}
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void CreatePoseGraphWithNodeToSubmapConstraint() {
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mapping::proto::PoseGraph::Constraint* constraint =
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pose_graph_.add_constraint();
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constraint->set_tag(mapping::proto::PoseGraph::Constraint::INTRA_SUBMAP);
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*constraint->mutable_node_id() = node_.node_id();
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*constraint->mutable_submap_id() = submap_.submap_id();
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*constraint->mutable_relative_pose() =
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transform::ToProto(transform::Rigid3d::Identity());
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}
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protected:
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mapping::proto::PoseGraph pose_graph_;
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mapping::proto::Submap submap_;
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mapping::proto::Node node_;
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};
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TEST_F(SubmapHistogramMigrationTest,
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SubmapHistogramGenerationFromTrajectoryNodes) {
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mapping::MapById<mapping::SubmapId, mapping::proto::Submap>
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submap_id_to_submap;
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mapping::SubmapId submap_id(submap_.submap_id().trajectory_id(),
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submap_.submap_id().submap_index());
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submap_id_to_submap.Insert(submap_id, submap_);
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mapping::MapById<mapping::NodeId, mapping::proto::Node> node_id_to_node;
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mapping::NodeId node_id(node_.node_id().trajectory_id(),
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node_.node_id().node_index());
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node_id_to_node.Insert(node_id, node_);
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const auto submap_id_to_submap_migrated =
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MigrateSubmapFormatVersion1ToVersion2(submap_id_to_submap,
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node_id_to_node, pose_graph_);
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EXPECT_EQ(submap_id_to_submap_migrated.size(), submap_id_to_submap.size());
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const mapping::proto::Submap& migrated_submap =
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submap_id_to_submap_migrated.at(submap_id);
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EXPECT_FALSE(migrated_submap.has_submap_2d());
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EXPECT_TRUE(migrated_submap.has_submap_3d());
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const mapping::proto::Submap3D& migrated_submap_3d =
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migrated_submap.submap_3d();
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const mapping::proto::TrajectoryNodeData& node_data = node_.node_data();
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EXPECT_EQ(migrated_submap_3d.rotational_scan_matcher_histogram_size(),
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node_data.rotational_scan_matcher_histogram_size());
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for (int i = 0; i < node_data.rotational_scan_matcher_histogram_size(); ++i) {
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EXPECT_EQ(migrated_submap_3d.rotational_scan_matcher_histogram(i),
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node_data.rotational_scan_matcher_histogram(i));
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}
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}
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} // namespace
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} // namespace io
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} // namespace cartographer
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