67 lines
2.5 KiB
C++
Executable File
67 lines
2.5 KiB
C++
Executable File
/*
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* Copyright 2017 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/trajectory_node.h"
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#include <limits>
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#include "Eigen/Core"
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#include "cartographer/common/time.h"
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#include "cartographer/mapping/proto/trajectory_node_data.pb.h"
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#include "cartographer/transform/rigid_transform_test_helpers.h"
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#include "gtest/gtest.h"
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namespace cartographer {
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namespace mapping {
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namespace {
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TEST(TrajectoryNodeTest, ToAndFromProto) {
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const TrajectoryNode::Data expected{
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common::FromUniversal(42),
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Eigen::Quaterniond(1., 2., -3., -4.),
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sensor::CompressedPointCloud(
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sensor::PointCloud({{Eigen::Vector3f{1.f, 2.f, 0.f}},
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{Eigen::Vector3f{0.f, 0.f, 1.f}}}))
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.Decompress(),
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sensor::CompressedPointCloud(
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sensor::PointCloud({{Eigen::Vector3f{2.f, 3.f, 4.f}}}))
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.Decompress(),
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sensor::CompressedPointCloud(
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sensor::PointCloud({{Eigen::Vector3f{-1.f, 2.f, 0.f}}}))
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.Decompress(),
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Eigen::VectorXf::Unit(20, 4),
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transform::Rigid3d({1., 2., 3.},
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Eigen::Quaterniond(4., 5., -6., -7.).normalized())};
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const proto::TrajectoryNodeData proto = ToProto(expected);
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const TrajectoryNode::Data actual = FromProto(proto);
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EXPECT_EQ(expected.time, actual.time);
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EXPECT_TRUE(actual.gravity_alignment.isApprox(expected.gravity_alignment));
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EXPECT_EQ(expected.filtered_gravity_aligned_point_cloud.points(),
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actual.filtered_gravity_aligned_point_cloud.points());
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EXPECT_EQ(expected.high_resolution_point_cloud.points(),
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actual.high_resolution_point_cloud.points());
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EXPECT_EQ(expected.low_resolution_point_cloud.points(),
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actual.low_resolution_point_cloud.points());
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EXPECT_EQ(expected.rotational_scan_matcher_histogram,
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actual.rotational_scan_matcher_histogram);
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EXPECT_THAT(actual.local_pose,
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transform::IsNearly(expected.local_pose, 1e-9));
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}
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} // namespace
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} // namespace mapping
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} // namespace cartographer
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