CVelodyneScanner_unittest.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include <mrpt/hwdrivers/CVelodyneScanner.h>
#include <mrpt/system/filesystem.h>
#include <gtest/gtest.h>

using namespace mrpt;
using namespace mrpt::hwdrivers;
using namespace std;

// Defined in tests/test_main.cpp
namespace mrpt
{
extern std::string MRPT_GLOBAL_UNITTEST_SRC_DIR;
}

#include <mrpt/config.h>
#if MRPT_HAS_LIBPCAP

TEST(CVelodyneScanner, sample_vlp16_dataset)
{
    const string fil = MRPT_GLOBAL_UNITTEST_SRC_DIR +
                       string("/tests/sample_velodyne_vlp16_gps.pcap");

    if (!mrpt::system::fileExists(fil))
    {
        std::cerr << "WARNING: Skipping test due to missing file: " << fil
                  << "\n";
        return;
    }

    CVelodyneScanner velodyne;

    velodyne.setModelName(mrpt::hwdrivers::CVelodyneScanner::VLP16);
    velodyne.setPCAPInputFile(fil);
    velodyne.setPCAPInputFileReadOnce(true);
    velodyne.enableVerbose(false);
    velodyne.setPCAPVerbosity(false);

    velodyne.initialize();

    size_t nScans = 0, nGPS = 0;
    bool rx_ok = true;
    for (size_t i = 0; i < 1000 && rx_ok; i++)
    {
        mrpt::obs::CObservationVelodyneScan::Ptr scan;
        mrpt::obs::CObservationGPS::Ptr gps;
        rx_ok = velodyne.getNextObservation(scan, gps);
        if (scan)
        {
            nScans++;
            scan->generatePointCloud();
        }
        if (gps) nGPS++;
    };
    EXPECT_EQ(nScans, 4U);
    EXPECT_GT(nGPS, 0U);
}

TEST(CVelodyneScanner, sample_hdl32_dataset)
{
    const string fil = MRPT_GLOBAL_UNITTEST_SRC_DIR +
                       string("/tests/sample_velodyne_hdl32.pcap");

    if (!mrpt::system::fileExists(fil))
    {
        std::cerr << "WARNING: Skipping test due to missing file: " << fil
                  << "\n";
        return;
    }

    CVelodyneScanner velodyne;

    velodyne.setModelName(mrpt::hwdrivers::CVelodyneScanner::HDL32);
    velodyne.setPCAPInputFile(fil);
    velodyne.setPCAPInputFileReadOnce(true);
    velodyne.enableVerbose(false);
    velodyne.setPCAPVerbosity(false);

    velodyne.initialize();

    size_t nScans = 0;
    //  size_t nGPS=0;
    bool rx_ok = true;
    for (size_t i = 0; i < 1000 && rx_ok; i++)
    {
        mrpt::obs::CObservationVelodyneScan::Ptr scan;
        mrpt::obs::CObservationGPS::Ptr gps;
        rx_ok = velodyne.getNextObservation(scan, gps);
        if (scan) nScans++;
        //      if (gps)  nGPS++;
    };
    EXPECT_EQ(nScans, 3U);
}

#endif  // MRPT_HAS_LIBPCAP