CRandomFieldGridMap3D_unittest.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include <gtest/gtest.h>
#include <mrpt/maps/CRandomFieldGridMap3D.h>

TEST(CRandomFieldGridMap3D, insertCheckMapBounds)
{
    using mrpt::math::TPoint3D;

    mrpt::maps::CRandomFieldGridMap3D::TVoxelInterpolationMethod im =
        mrpt::maps::CRandomFieldGridMap3D::gimNearest;

    mrpt::maps::CRandomFieldGridMap3D grid3d;
    // grid3d.setMinLoggingLevel(mrpt::system::LVL_DEBUG);

    grid3d.setSize(
        -4.0, 4.0, 0.0, 4.0, 0.0, 4.0,
        1.0 /*voxel size*/);  // x:[-10,10] * y:[0,5] * z:[0,4]

    const double val = 10.0, var = 1.0;

    // Inside:
    EXPECT_TRUE(grid3d.insertIndividualReading(
        1.0 * val, var, TPoint3D(2.0, 3.0, 1.0), im, false));
    EXPECT_TRUE(grid3d.insertIndividualReading(
        2.0 * val, var, TPoint3D(-3.0, 0.4, 1.0), im, false));
    EXPECT_TRUE(grid3d.insertIndividualReading(
        3.0 * val, var, TPoint3D(3.0, 3.8, 3.0), im, false));
    // Outside:
    EXPECT_FALSE(grid3d.insertIndividualReading(
        val, var, TPoint3D(-11.0, 2.0, 2.0), im, false));
    EXPECT_FALSE(grid3d.insertIndividualReading(
        val, var, TPoint3D(11.0, 2.0, 3.0), im, false));
    EXPECT_FALSE(grid3d.insertIndividualReading(
        val, var, TPoint3D(2.0, -1.0, 11.0), im, false));
    EXPECT_FALSE(grid3d.insertIndividualReading(
        val, var, TPoint3D(2.0, 6.0, 3.0), im, false));

#if 0
    grid3d.updateMapEstimation();
    grid3d.saveAsCSV("map3D.csv");
    grid3d.saveAsVtkStructuredGrid("map3D.vts");
#endif
}

TEST(CRandomFieldGridMap3D, insertPointsAndRead)
{
    using mrpt::math::TPoint3D;

    mrpt::maps::CRandomFieldGridMap3D::TVoxelInterpolationMethod im =
        mrpt::maps::CRandomFieldGridMap3D::gimNearest;
    mrpt::maps::CRandomFieldGridMap3D grid3d;
    // grid3d.setMinLoggingLevel(mrpt::system::LVL_DEBUG);

    grid3d.setSize(
        -4.0, 4.0, 0.0, 4.0, 0.0, 4.0,
        1.0 /*voxel size*/);  // x:[-10,10] * y:[0,5] * z:[0,4]

    const double val = 55.0, var = 1.0;

    EXPECT_TRUE(grid3d.insertIndividualReading(
        val, var, TPoint3D(2.0, 3.0, 1.0), im, false));

    grid3d.insertionOptions.GMRF_skip_variance = true;
    grid3d.updateMapEstimation();

    {
        const double map_value = grid3d.cellByPos(2.0, 3.0, 1.0)->mean_value;
        EXPECT_NEAR(map_value, val, 1e-6);
    }

    // Test after map enlarge:
    grid3d.resize(
        -5.0, 5.0, -1.0, 5.0, -1.0, 5.0, mrpt::maps::TRandomFieldVoxel(), .0);
    {
        const double map_value = grid3d.cellByPos(2.0, 3.0, 1.0)->mean_value;
        EXPECT_NEAR(map_value, val, 1e-6);
    }
}