path_from_rtk_gps_unittest.cpp

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/* +------------------------------------------------------------------------+
   |                     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/topography.h>
#include <mrpt/poses/CPose3DInterpolator.h>
#include <mrpt/system/filesystem.h>
#include <gtest/gtest.h>

using namespace mrpt;
using namespace mrpt::math;
using namespace mrpt::poses;
using namespace mrpt::topography;
using namespace std;

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

TEST(TopographyReconstructPathFrom3RTK, sampleDataset)
{
    mrpt::poses::CPose3DInterpolator robot_path;

    mrpt::obs::CRawlog rawlog;

    const string dataset_fil =
        MRPT_GLOBAL_UNITTEST_SRC_DIR +
        string("/share/mrpt/datasets/test_rtk_path.rawlog");
    if (!mrpt::system::fileExists(dataset_fil))
    {
        cerr << "WARNING: Skipping test due to missing file: " << dataset_fil
             << "\n";
        return;
    }
    if (!rawlog.loadFromRawLogFile(dataset_fil))
    {
        cerr << "WARNING: Skipping test due to error loading file: "
             << dataset_fil << "\n";
    }
    else
    {
        mrpt::topography::TPathFromRTKInfo rtk_path_info;

        // -------------------------------------------
        // Run path reconstruction:
        // -------------------------------------------
        mrpt::topography::path_from_rtk_gps(
            robot_path, rawlog,
            0,  // first entry
            rawlog.size() - 1,  // last entry
            false,  // Isn't a GUI
            false,  // disableGPSInterp
            1,  // path_smooth_filter_size
            &rtk_path_info);

        EXPECT_EQ(robot_path.size(), 75u);

        // Expected values:
        // 1226225355.000000 279.705647 216.651473 8.517821 0.194222 -0.083873
        // -0.045293
        // 1226225380.000000 377.095830 233.343569 9.724171 0.177037 -0.073565
        // -0.019024
        const mrpt::Clock::time_point t1(std::chrono::seconds(1226225355 + 11644473600));
        const mrpt::Clock::time_point t2(std::chrono::seconds(1226225380 + 11644473600));
        const CPose3D pose_GT_1(
            279.696, 216.623, 9.21315, 0.195764, -0.0319733, -0.0420478);
        const CPose3D pose_GT_2(
            377.087, 233.311, 10.474, 0.178932, -0.0212096, -0.0154982);

        CPose3D pose1, pose2;
        bool valid;
        robot_path.interpolate(t1, pose1, valid);
        EXPECT_TRUE(valid);

        robot_path.interpolate(t2, pose2, valid);
        EXPECT_TRUE(valid);

        CVectorDouble p1vec(12), p2vec(12);
        pose1.getAs12Vector(p1vec);
        pose2.getAs12Vector(p2vec);

        CVectorDouble p1vec_gt(12), p2vec_gt(12);
        pose_GT_1.getAs12Vector(p1vec_gt);
        pose_GT_2.getAs12Vector(p2vec_gt);
        EXPECT_NEAR((p1vec - p1vec_gt).array().abs().sum(), 0, 1e-3);
        EXPECT_NEAR((p2vec - p2vec_gt).array().abs().sum(), 0, 1e-3);
    }
}