CVelodyneScanner_unittest.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, 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 mrpt::utils;
using namespace std;

// Defined in tests/test_main.cpp
namespace mrpt { namespace utils {
        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::CObservationVelodyneScanPtr scan;
                mrpt::obs::CObservationGPSPtr          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::CObservationVelodyneScanPtr scan;
                mrpt::obs::CObservationGPSPtr          gps;
                rx_ok = velodyne.getNextObservation(scan,gps);
                if (scan) nScans++;
//              if (gps)  nGPS++;
        };
        EXPECT_EQ(nScans,3U);
}

#endif // MRPT_HAS_LIBPCAP