54 lines
1.9 KiB
C++
Executable File
54 lines
1.9 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/mapping/3d/submap_3d.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 {
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namespace {
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TEST(SubmapsTest, ToFromProto) {
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Eigen::VectorXf histogram(2);
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histogram << 1.0f, 2.0f;
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const Submap3D expected(
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0.05, 0.25,
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transform::Rigid3d(Eigen::Vector3d(1., 2., 0.),
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Eigen::Quaterniond(0., 0., 0., 1.)),
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histogram);
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const proto::Submap proto =
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expected.ToProto(true /* include_probability_grid_data */);
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EXPECT_FALSE(proto.has_submap_2d());
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EXPECT_TRUE(proto.has_submap_3d());
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const auto actual = Submap3D(proto.submap_3d());
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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.insertion_finished(), actual.insertion_finished());
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EXPECT_NEAR(expected.high_resolution_hybrid_grid().resolution(), 0.05, 1e-6);
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EXPECT_NEAR(expected.low_resolution_hybrid_grid().resolution(), 0.25, 1e-6);
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EXPECT_TRUE(expected.rotational_scan_matcher_histogram().isApprox(
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actual.rotational_scan_matcher_histogram(), 1e-6));
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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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