97 lines
3.8 KiB
C++
97 lines
3.8 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/collator.h"
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#include <array>
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#include <memory>
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#include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
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#include "cartographer/common/make_unique.h"
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#include "cartographer/common/time.h"
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#include "cartographer/sensor/proto/sensor.pb.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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TEST(Collator, Ordering) {
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const std::array<string, 4> kSensorId = {
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{"horizontal_rangefinder", "vertical_rangefinder", "imu", "odometry"}};
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Data zero(common::FromUniversal(0), Data::Rangefinder{});
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Data first(common::FromUniversal(100), Data::Rangefinder{});
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Data second(common::FromUniversal(200), Data::Rangefinder{});
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Data third(common::FromUniversal(300), Data::Imu{});
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Data fourth(common::FromUniversal(400), Data::Rangefinder{});
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Data fifth(common::FromUniversal(500), Data::Rangefinder{});
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Data sixth(common::FromUniversal(600), transform::Rigid3d::Identity());
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std::vector<std::pair<string, Data>> received;
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Collator collator;
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collator.AddTrajectory(
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0, std::unordered_set<string>(kSensorId.begin(), kSensorId.end()),
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[&received](const string& sensor_id, std::unique_ptr<Data> data) {
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received.push_back(std::make_pair(sensor_id, *data));
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});
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constexpr int kTrajectoryId = 0;
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// Establish a common start time.
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collator.AddSensorData(kTrajectoryId, kSensorId[0],
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common::make_unique<Data>(zero));
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collator.AddSensorData(kTrajectoryId, kSensorId[1],
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common::make_unique<Data>(zero));
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collator.AddSensorData(kTrajectoryId, kSensorId[2],
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common::make_unique<Data>(zero));
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collator.AddSensorData(kTrajectoryId, kSensorId[3],
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common::make_unique<Data>(zero));
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collator.AddSensorData(kTrajectoryId, kSensorId[0],
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common::make_unique<Data>(first));
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collator.AddSensorData(kTrajectoryId, kSensorId[3],
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common::make_unique<Data>(sixth));
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collator.AddSensorData(kTrajectoryId, kSensorId[0],
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common::make_unique<Data>(fourth));
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collator.AddSensorData(kTrajectoryId, kSensorId[1],
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common::make_unique<Data>(second));
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collator.AddSensorData(kTrajectoryId, kSensorId[1],
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common::make_unique<Data>(fifth));
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collator.AddSensorData(kTrajectoryId, kSensorId[2],
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common::make_unique<Data>(third));
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ASSERT_EQ(7, received.size());
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EXPECT_EQ(100, common::ToUniversal(received[4].second.time));
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EXPECT_EQ(kSensorId[0], received[4].first);
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EXPECT_EQ(200, common::ToUniversal(received[5].second.time));
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EXPECT_EQ(kSensorId[1], received[5].first);
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EXPECT_EQ(300, common::ToUniversal(received[6].second.time));
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EXPECT_EQ(kSensorId[2], received[6].first);
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collator.Flush();
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ASSERT_EQ(10, received.size());
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EXPECT_EQ(kSensorId[0], received[7].first);
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EXPECT_EQ(500, common::ToUniversal(received[8].second.time));
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EXPECT_EQ(kSensorId[1], received[8].first);
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EXPECT_EQ(600, common::ToUniversal(received[9].second.time));
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EXPECT_EQ(kSensorId[3], received[9].first);
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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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