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COctoMap_unittest.cpp
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #include <mrpt/maps/COctoMap.h>
11 #include <gtest/gtest.h>
12 
13 using namespace mrpt;
14 using namespace mrpt::maps;
15 using namespace mrpt::obs;
16 using namespace mrpt::utils;
17 using namespace mrpt::poses;
18 using namespace mrpt::math;
19 using namespace std;
20 
21 TEST(COctoMapTests, updateVoxels)
22 {
23  // Copied from the example program in the "octomap" C++ library.
24 
25  COctoMap map(0.1);
26 
27  map.updateVoxel(1, 1, 1, true); // integrate 'occupied' measurement
28 
29  map.updateVoxel(1.5, 1, 1, true); // integrate 'occupied' measurement
30  map.updateVoxel(1.5, 1, 1, true); // integrate 'occupied' measurement
31  map.updateVoxel(1.5, 1, 1, true); // integrate 'occupied' measurement
32 
33  map.updateVoxel(-1, -1, 1, false); // integrate 'occupied' measurement
34 
35  double occup;
36  bool is_mapped;
37  mrpt::math::TPoint3D pt;
38 
39  pt = mrpt::math::TPoint3D(1, 1, 1);
40  is_mapped = map.getPointOccupancy(pt.x, pt.y, pt.z, occup);
41  EXPECT_GT(occup, 0.5);
42  EXPECT_TRUE(is_mapped);
43 
44  pt = mrpt::math::TPoint3D(-1, -1, 1);
45  is_mapped = map.getPointOccupancy(pt.x, pt.y, pt.z, occup);
46  EXPECT_LT(occup, 0.5);
47  EXPECT_TRUE(is_mapped);
48 }
49 
50 TEST(COctoMapTests, insert2DScan)
51 {
52  float SCAN_RANGES_1[] = {
53  0.910f, 0.900f, 0.910f, 0.900f, 0.900f, 0.890f, 0.890f, 0.880f,
54  0.890f, 0.880f, 0.880f, 0.880f, 0.880f, 0.880f, 0.880f, 0.870f,
55  0.880f, 0.870f, 0.870f, 0.870f, 0.880f, 0.880f, 0.880f, 0.880f,
56  0.880f, 0.880f, 0.880f, 0.880f, 0.880f, 0.880f, 0.880f, 0.880f,
57  0.880f, 0.880f, 0.880f, 0.880f, 0.890f, 0.880f, 0.880f, 0.880f,
58  0.890f, 0.880f, 0.890f, 0.890f, 0.880f, 0.890f, 0.890f, 0.880f,
59  0.890f, 0.890f, 0.890f, 0.890f, 0.890f, 0.890f, 0.900f, 0.900f,
60  0.900f, 0.900f, 0.900f, 0.910f, 0.910f, 0.910f, 0.910f, 0.920f,
61  0.920f, 0.920f, 0.920f, 0.920f, 0.930f, 0.930f, 0.930f, 0.930f,
62  0.940f, 0.940f, 0.950f, 0.950f, 0.950f, 0.950f, 0.960f, 0.960f,
63  0.970f, 0.970f, 0.970f, 0.980f, 0.980f, 0.990f, 1.000f, 1.000f,
64  1.000f, 1.010f, 1.010f, 1.020f, 1.030f, 1.030f, 1.030f, 1.040f,
65  1.050f, 1.060f, 1.050f, 1.060f, 1.070f, 1.070f, 1.080f, 1.080f,
66  1.090f, 1.100f, 1.110f, 1.120f, 1.120f, 1.130f, 1.140f, 1.140f,
67  1.160f, 1.170f, 1.180f, 1.180f, 1.190f, 1.200f, 1.220f, 1.220f,
68  1.230f, 1.230f, 1.240f, 1.250f, 1.270f, 1.280f, 1.290f, 1.300f,
69  1.320f, 1.320f, 1.350f, 1.360f, 1.370f, 1.390f, 1.410f, 1.410f,
70  1.420f, 1.430f, 1.450f, 1.470f, 1.490f, 1.500f, 1.520f, 1.530f,
71  1.560f, 1.580f, 1.600f, 1.620f, 1.650f, 1.670f, 1.700f, 1.730f,
72  1.750f, 1.780f, 1.800f, 1.830f, 1.850f, 1.880f, 1.910f, 1.940f,
73  1.980f, 2.010f, 2.060f, 2.090f, 2.130f, 2.180f, 2.220f, 2.250f,
74  2.300f, 2.350f, 2.410f, 2.460f, 2.520f, 2.570f, 2.640f, 2.700f,
75  2.780f, 2.850f, 2.930f, 3.010f, 3.100f, 3.200f, 3.300f, 3.390f,
76  3.500f, 3.620f, 3.770f, 3.920f, 4.070f, 4.230f, 4.430f, 4.610f,
77  4.820f, 5.040f, 5.290f, 5.520f, 8.970f, 8.960f, 8.950f, 8.930f,
78  8.940f, 8.930f, 9.050f, 9.970f, 9.960f, 10.110f, 13.960f, 18.870f,
79  19.290f, 81.910f, 20.890f, 48.750f, 48.840f, 48.840f, 19.970f, 19.980f,
80  19.990f, 15.410f, 20.010f, 19.740f, 17.650f, 17.400f, 14.360f, 12.860f,
81  11.260f, 11.230f, 8.550f, 8.630f, 9.120f, 9.120f, 8.670f, 8.570f,
82  7.230f, 7.080f, 7.040f, 6.980f, 6.970f, 5.260f, 5.030f, 4.830f,
83  4.620f, 4.440f, 4.390f, 4.410f, 4.410f, 4.410f, 4.430f, 4.440f,
84  4.460f, 4.460f, 4.490f, 4.510f, 4.540f, 3.970f, 3.820f, 3.730f,
85  3.640f, 3.550f, 3.460f, 3.400f, 3.320f, 3.300f, 3.320f, 3.320f,
86  3.340f, 2.790f, 2.640f, 2.600f, 2.570f, 2.540f, 2.530f, 2.510f,
87  2.490f, 2.490f, 2.480f, 2.470f, 2.460f, 2.460f, 2.460f, 2.450f,
88  2.450f, 2.450f, 2.460f, 2.460f, 2.470f, 2.480f, 2.490f, 2.490f,
89  2.520f, 2.510f, 2.550f, 2.570f, 2.610f, 2.640f, 2.980f, 3.040f,
90  3.010f, 2.980f, 2.940f, 2.920f, 2.890f, 2.870f, 2.830f, 2.810f,
91  2.780f, 2.760f, 2.740f, 2.720f, 2.690f, 2.670f, 2.650f, 2.630f,
92  2.620f, 2.610f, 2.590f, 2.560f, 2.550f, 2.530f, 2.510f, 2.500f,
93  2.480f, 2.460f, 2.450f, 2.430f, 2.420f, 2.400f, 2.390f, 2.380f,
94  2.360f, 2.350f, 2.340f, 2.330f, 2.310f, 2.300f, 2.290f, 2.280f,
95  2.270f, 2.260f, 2.250f, 2.240f, 2.230f, 2.230f, 2.220f, 2.210f,
96  2.200f, 2.190f, 2.180f, 2.170f, 1.320f, 1.140f, 1.130f, 1.130f,
97  1.120f, 1.120f, 1.110f, 1.110f, 1.110f, 1.110f, 1.100f, 1.110f,
98  1.100f};
99  char SCAN_VALID_1[] = {
100  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
101  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
102  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
103  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
104  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
105  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
106  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
107  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
108  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
109  1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
110  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
111  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
112  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
113  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
114  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
115  1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1};
116 
117  const size_t SCAN_SIZE = sizeof(SCAN_RANGES_1) / sizeof(SCAN_RANGES_1[0]);
118 
119  // Load scans:
120  mrpt::obs::CObservation2DRangeScan scan1;
121  scan1.aperture = M_PIf;
122  scan1.rightToLeft = true;
123  ASSERT_(sizeof(SCAN_RANGES_1) == sizeof(float) * SCAN_SIZE);
124 
125  scan1.loadFromVectors(SCAN_SIZE, SCAN_RANGES_1, SCAN_VALID_1);
126 
127  // Insert the scan in the map and check expected values:
128  {
129  COctoMap map(0.1);
130  map.insertObservation(&scan1);
131  }
132 }
mrpt::maps::COctoMapBase::getPointOccupancy
bool getPointOccupancy(const float x, const float y, const float z, double &prob_occupancy) const
Get the occupancy probability [0,1] of a point.
Definition: COctoMapBase_impl.h:204
mrpt::utils
Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.
Definition: CParticleFilter.h:223
COctoMap.h
mrpt::maps::COctoMapBase::updateVoxel
void updateVoxel(const double x, const double y, const double z, bool occupied)
Manually updates the occupancy of the voxel at (x,y,z) as being occupied (true) or free (false)...
Definition: COctoMapBase.h:352
std
STL namespace.
mrpt::math
This base provides a set of functions for maths stuff.
Definition: CArrayNumeric.h:19
M_PIf
#define M_PIf
Definition: CColouredPointsMap.h:441
mrpt::obs
This namespace contains representation of robot actions and observations.
Definition: CParticleFilter.h:19
mrpt::math::TPoint3D::x
double x
X,Y,Z coordinates.
Definition: lightweight_geom_data.h:388
TEST
TEST(COctoMapTests, updateVoxels)
Definition: COctoMap_unittest.cpp:21
mrpt::maps::COctoMap
A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ ...
Definition: COctoMap.h:33
mrpt::poses
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
Definition: CPoint.h:17
mrpt
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Definition: CParticleFilter.h:17
mrpt::obs::CObservation2DRangeScan
A "CObservation"-derived class that represents a 2D range scan measurement (typically from a laser sc...
Definition: CObservation2DRangeScan.h:55
mrpt::obs::CObservation2DRangeScan::aperture
float aperture
The "aperture" or field-of-view of the range finder, in radians (typically M_PI = 180 degrees)...
Definition: CObservation2DRangeScan.h:121
ASSERT_
#define ASSERT_(f)
Definition: CColouredPointsMap.h:310
mrpt::obs::CObservation2DRangeScan::loadFromVectors
void loadFromVectors(size_t nRays, const float *scanRanges, const char *scanValidity)
Definition: CObservation2DRangeScan.cpp:603
mrpt::math::TPoint3D
Lightweight 3D point.
Definition: lightweight_geom_data.h:381
mrpt::maps::CMetricMap::insertObservation
bool insertObservation(const mrpt::obs::CObservation *obs, const mrpt::poses::CPose3D *robotPose=NULL)
Insert the observation information into this map.
Definition: CMetricMap.cpp:95
mrpt::obs::CObservation2DRangeScan::rightToLeft
bool rightToLeft
The scanning direction: true=counterclockwise; false=clockwise.
Definition: CObservation2DRangeScan.h:123


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