serialization_format_migration_test.cc

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/*
 * Copyright 2018 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include "cartographer/io/serialization_format_migration.h"

#include <functional>
#include <memory>

#include "cartographer/io/internal/in_memory_proto_stream.h"
#include "cartographer/mapping/internal/testing/test_helpers.h"
#include "cartographer/mapping/proto/internal/legacy_serialized_data.pb.h"
#include "cartographer/mapping/proto/pose_graph.pb.h"
#include "cartographer/mapping/proto/serialization.pb.h"
#include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
#include "cartographer/mapping/trajectory_node.h"
#include "cartographer/transform/transform.h"
#include "gmock/gmock.h"
#include "google/protobuf/text_format.h"
#include "gtest/gtest.h"

namespace cartographer {
namespace io {
namespace {

using ::google::protobuf::TextFormat;
using ::testing::Eq;
using ::testing::SizeIs;

class MigrationTest : public ::testing::Test {
 private:
  template <class LegacySerializedDataType>
  void AddLegacyDataToReader(InMemoryProtoStreamReader& reader) {
    mapping::proto::PoseGraph pose_graph;
    mapping::proto::AllTrajectoryBuilderOptions all_options;
    LegacySerializedDataType submap;
    submap.mutable_submap();
    LegacySerializedDataType node;
    node.mutable_node();
    LegacySerializedDataType imu_data;
    imu_data.mutable_imu_data();
    LegacySerializedDataType odometry_data;
    odometry_data.mutable_odometry_data();
    LegacySerializedDataType fixed_frame_pose;
    fixed_frame_pose.mutable_fixed_frame_pose_data();
    LegacySerializedDataType trajectory_data;
    trajectory_data.mutable_trajectory_data();
    LegacySerializedDataType landmark_data;
    landmark_data.mutable_landmark_data();

    reader.AddProto(pose_graph);
    reader.AddProto(all_options);
    reader.AddProto(submap);
    reader.AddProto(node);
    reader.AddProto(imu_data);
    reader.AddProto(odometry_data);
    reader.AddProto(fixed_frame_pose);
    reader.AddProto(trajectory_data);
    reader.AddProto(landmark_data);
  }

 protected:
  void SetUp() override {
    AddLegacyDataToReader<mapping::proto::LegacySerializedData>(reader_);
    AddLegacyDataToReader<mapping::proto::LegacySerializedDataLegacySubmap>(
        reader_for_migrating_grid_);

    writer_.reset(new ForwardingProtoStreamWriter(
        [this](const google::protobuf::Message* proto) -> bool {
          std::string msg_string;
          TextFormat::PrintToString(*proto, &msg_string);
          this->output_messages_.push_back(msg_string);
          return true;
        }));
    writer_for_migrating_grid_.reset(new ForwardingProtoStreamWriter(
        [this](const google::protobuf::Message* proto) -> bool {
          std::string msg_string;
          TextFormat::PrintToString(*proto, &msg_string);
          this->output_messages_after_migrating_grid_.push_back(msg_string);
          return true;
        }));
  }

  InMemoryProtoStreamReader reader_;
  InMemoryProtoStreamReader reader_for_migrating_grid_;
  std::unique_ptr<ForwardingProtoStreamWriter> writer_;
  std::unique_ptr<ForwardingProtoStreamWriter> writer_for_migrating_grid_;
  std::vector<std::string> output_messages_;
  std::vector<std::string> output_messages_after_migrating_grid_;

  static constexpr int kNumOriginalMessages = 9;
};

class SubmapHistogramMigrationTest : public ::testing::Test {
 protected:
  void SetUp() override {
    CreateSubmap();
    CreateNode();
    CreatePoseGraphWithNodeToSubmapConstraint();
  }

 private:
  void CreateSubmap() {
    submap_ = mapping::testing::CreateFakeSubmap3D();
    submap_.mutable_submap_3d()->clear_rotational_scan_matcher_histogram();
  }

  void CreateNode() {
    node_ = mapping::testing::CreateFakeNode();
    constexpr int histogram_size = 10;
    for (int i = 0; i < histogram_size; ++i) {
      node_.mutable_node_data()->add_rotational_scan_matcher_histogram(1.f);
    }
  }

  void CreatePoseGraphWithNodeToSubmapConstraint() {
    mapping::proto::PoseGraph::Constraint* constraint =
        pose_graph_.add_constraint();
    constraint->set_tag(mapping::proto::PoseGraph::Constraint::INTRA_SUBMAP);
    *constraint->mutable_node_id() = node_.node_id();
    *constraint->mutable_submap_id() = submap_.submap_id();
    *constraint->mutable_relative_pose() =
        transform::ToProto(transform::Rigid3d::Identity());
  }

 protected:
  mapping::proto::PoseGraph pose_graph_;
  mapping::proto::Submap submap_;
  mapping::proto::Node node_;
};

TEST_F(MigrationTest, MigrationAddsHeaderAsFirstMessage) {
  MigrateStreamFormatToVersion1(&reader_, writer_.get(),
                                false /* migrate_grid_format */);
  // We expect one message more than the original number of messages, because of
  // the added header.
  EXPECT_THAT(output_messages_, SizeIs(kNumOriginalMessages + 1));

  mapping::proto::SerializationHeader header;
  EXPECT_TRUE(TextFormat::ParseFromString(output_messages_[0], &header));
  EXPECT_THAT(header.format_version(), Eq(1));
}

TEST_F(MigrationTest, MigrationWithGridMigrationAddsHeaderAsFirstMessage) {
  MigrateStreamFormatToVersion1(&reader_for_migrating_grid_,
                                writer_for_migrating_grid_.get(),
                                true /* migrate_grid_format */);
  // We expect one message more than the original number of messages, because of
  // the added header.
  EXPECT_THAT(output_messages_after_migrating_grid_,
              SizeIs(kNumOriginalMessages + 1));

  mapping::proto::SerializationHeader header;
  EXPECT_TRUE(TextFormat::ParseFromString(
      output_messages_after_migrating_grid_[0], &header));
  EXPECT_THAT(header.format_version(), Eq(1));
}

TEST_F(MigrationTest, SerializedDataOrderIsCorrect) {
  MigrateStreamFormatToVersion1(&reader_, writer_.get(),
                                false /* migrate_grid_format */);
  EXPECT_THAT(output_messages_, SizeIs(kNumOriginalMessages + 1));

  std::vector<mapping::proto::SerializedData> serialized(
      output_messages_.size() - 1);
  for (size_t i = 1; i < output_messages_.size(); ++i) {
    EXPECT_TRUE(
        TextFormat::ParseFromString(output_messages_[i], &serialized[i - 1]));
  }

  EXPECT_TRUE(serialized[0].has_pose_graph());
  EXPECT_TRUE(serialized[1].has_all_trajectory_builder_options());
  EXPECT_TRUE(serialized[2].has_submap());
  EXPECT_TRUE(serialized[3].has_node());
  EXPECT_TRUE(serialized[4].has_trajectory_data());
  EXPECT_TRUE(serialized[5].has_imu_data());
  EXPECT_TRUE(serialized[6].has_odometry_data());
  EXPECT_TRUE(serialized[7].has_fixed_frame_pose_data());
  EXPECT_TRUE(serialized[8].has_landmark_data());
}

TEST_F(MigrationTest, SerializedDataOrderAfterGridMigrationIsCorrect) {
  MigrateStreamFormatToVersion1(&reader_for_migrating_grid_,
                                writer_for_migrating_grid_.get(),
                                true /* migrate_grid_format */);
  EXPECT_THAT(output_messages_after_migrating_grid_,
              SizeIs(kNumOriginalMessages + 1));

  std::vector<mapping::proto::SerializedData> serialized(
      output_messages_after_migrating_grid_.size() - 1);
  for (size_t i = 1; i < output_messages_after_migrating_grid_.size(); ++i) {
    EXPECT_TRUE(TextFormat::ParseFromString(
        output_messages_after_migrating_grid_[i], &serialized[i - 1]));
  }

  EXPECT_TRUE(serialized[0].has_pose_graph());
  EXPECT_TRUE(serialized[1].has_all_trajectory_builder_options());
  EXPECT_TRUE(serialized[2].has_submap());
  EXPECT_TRUE(serialized[3].has_node());
  EXPECT_TRUE(serialized[4].has_trajectory_data());
  EXPECT_TRUE(serialized[5].has_imu_data());
  EXPECT_TRUE(serialized[6].has_odometry_data());
  EXPECT_TRUE(serialized[7].has_fixed_frame_pose_data());
  EXPECT_TRUE(serialized[8].has_landmark_data());
}

TEST_F(SubmapHistogramMigrationTest,
       SubmapHistogramGenerationFromTrajectoryNodes) {
  mapping::MapById<mapping::SubmapId, mapping::proto::Submap>
      submap_id_to_submap;
  mapping::SubmapId submap_id(submap_.submap_id().trajectory_id(),
                              submap_.submap_id().submap_index());
  submap_id_to_submap.Insert(submap_id, submap_);

  mapping::MapById<mapping::NodeId, mapping::proto::Node> node_id_to_node;
  mapping::NodeId node_id(node_.node_id().trajectory_id(),
                          node_.node_id().node_index());
  node_id_to_node.Insert(node_id, node_);

  const auto submap_id_to_submap_migrated =
      MigrateSubmapFormatVersion1ToVersion2(submap_id_to_submap,
                                            node_id_to_node, pose_graph_);

  EXPECT_EQ(submap_id_to_submap_migrated.size(), submap_id_to_submap.size());
  const mapping::proto::Submap& migrated_submap =
      submap_id_to_submap_migrated.at(submap_id);

  EXPECT_FALSE(migrated_submap.has_submap_2d());
  EXPECT_TRUE(migrated_submap.has_submap_3d());
  const mapping::proto::Submap3D& migrated_submap_3d =
      migrated_submap.submap_3d();
  const mapping::proto::TrajectoryNodeData& node_data = node_.node_data();
  EXPECT_EQ(migrated_submap_3d.rotational_scan_matcher_histogram_size(),
            node_data.rotational_scan_matcher_histogram_size());
  for (int i = 0; i < node_data.rotational_scan_matcher_histogram_size(); ++i) {
    EXPECT_EQ(migrated_submap_3d.rotational_scan_matcher_histogram(i),
              node_data.rotational_scan_matcher_histogram(i));
  }
}

}  // namespace
}  // namespace io
}  // namespace cartographer