map_server_comparison.cpp

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#include <gtest/gtest.h>
#include <map_server/image_loader.h>
#include <nav_grid_server/image_loader.h>
#include <ros/package.h>
#include <string>
#include <vector>
 
std::vector<std::string> filenames = {"spectrum.png", "spectrum.pgm"};
 
bool compareToClassic(const std::string& filename, bool should_negate, double occ_th, double free_th, MapMode mode)
{
  const double resolution = 0.1;
  double origin[3] = {0.0, 0.0, 0.0};
  nav_msgs::GetMap::Response map_resp;
 
  std::string path = ros::package::getPath("nav_grid_server") + "/test/data/" + filename;
 
  map_server::loadMapFromFile(&map_resp, path.c_str(), resolution, should_negate, occ_th, free_th, origin, mode);
 
  std::string mode_str;
  if (mode == RAW)
  {
    mode_str = "raw";
  }
  else if (mode == TRINARY)
  {
    mode_str = "trinary";
  }
  else
  {
    mode_str = "scale";
  }
 
  nav_grid::VectorNavGrid<unsigned char> the_map =
    nav_grid_server::classicLoadMapFromFile(path, resolution, should_negate, occ_th, free_th, mode_str);
 
  if (the_map.size() != map_resp.map.data.size())
  {
    return false;
  }
  unsigned int correct = 0;
  for (unsigned int i=0; i < the_map.size(); i++)
  {
    unsigned char original = map_resp.map.data[i];
    unsigned char updated = the_map[i];
    if (original == updated)
      correct += 1;
  }
  if (correct != the_map.size())
  {
    printf("%.2f correct\n", correct * 100.0 / the_map.size());
    for (unsigned int i=0; i < the_map.size(); i++)
    {
      unsigned char original = map_resp.map.data[i];
      unsigned char updated = the_map[i];
      if (original == updated)
        correct += 1;
      printf("%d) %d %d %c\n", i, updated, original, updated == original ? ' ' : 'x');
    }
  }
 
  return correct == the_map.size();
}
 
TEST(MapServerComparison, raw)
{
  for (auto& filename : filenames)
  {
    EXPECT_TRUE(compareToClassic(filename, false, 0.9, 0.1, RAW)) << filename;
    EXPECT_TRUE(compareToClassic(filename, true, 0.9, 0.1, RAW)) << filename;
  }
}
 
TEST(MapServerComparison, trinary)
{
  for (auto& filename : filenames)
  {
    EXPECT_TRUE(compareToClassic(filename, true, 0.65, 0.196, TRINARY)) << filename;
    EXPECT_TRUE(compareToClassic(filename, true, 0.85, 0.15, TRINARY)) << filename;
    EXPECT_TRUE(compareToClassic(filename, false, 0.65, 0.196, TRINARY)) << filename;
    EXPECT_TRUE(compareToClassic(filename, false, 0.85, 0.15, TRINARY)) << filename;
  }
}
 
TEST(MapServerComparison, scale)
{
  for (auto& filename : filenames)
  {
    EXPECT_TRUE(compareToClassic(filename, true, 0.65, 0.196, SCALE)) << filename;
    EXPECT_TRUE(compareToClassic(filename, true, 0.85, 0.15, SCALE)) << filename;
    EXPECT_TRUE(compareToClassic(filename, false, 0.65, 0.196, SCALE)) << filename;
    EXPECT_TRUE(compareToClassic(filename, false, 0.85, 0.15, SCALE)) << filename;
  }
}
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}