test_conversions.cpp File Reference

#include <cmath>
#include <functional>
#include <limits>
#include <gtest/gtest.h>
#include <nav_msgs/msg/occupancy_grid.hpp>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include "navmap_ros_interfaces/msg/nav_map_layer.hpp"
#include "std_msgs/msg/header.hpp"
#include "navmap_ros/conversions.hpp"
#include "navmap_core/NavMap.hpp"

Include dependency graph for test_conversions.cpp:

Functions
navmap::NavMap	from_occupancy_grid (const nav_msgs::msg::OccupancyGrid &grid, std_msgs::msg::Header &header)
	Build a navmap::NavMap from a nav_msgs::msg::OccupancyGrid using a regular triangular surface with shared vertices.
navmap::NavMap	from_regular_grid (const pcl::PointCloud< pcl::PointXYZ > &grid_points, navmap_ros_interfaces::msg::NavMap &out_msg, BuildParams params)
	Build a NavMap surface from an organized (grid-shaped) PCL point cloud.
	TEST (FromRegularGrid, FlatGridProducesFullCoverageNoOverlap)
	TEST (FromRegularGrid, GentleSlopeUnderLimitStaysFullyCovered)
	TEST (FromRegularGrid, MatchesFromOccupancyGridWindingPattern)
	TEST (FromRegularGrid, NonFiniteVertexOnlySkipsItsOwnTriangles)
	TEST (FromRegularGrid, TooSmallGridReturnsEmpty)
	TEST (FromRegularGrid, TooSteepCellsAreSkippedNotTheWholeGrid)
	TEST (FromRegularGrid, UnorganizedCloudReturnsEmpty)
	TEST (NavMap_FullConversions, EmptyMap_RoundTrip)
	TEST (NavMap_FullConversions, RoundTrip_All)
	TEST (NavMap_LayerConversions, F32_RoundTrip)
	TEST (NavMap_LayerConversions, F64_RoundTrip)
	TEST (NavMap_LayerConversions, ToMsg_Throws_OnMissingLayer)
	TEST (NavMap_LayerConversions, U8_RoundTrip)
	TEST (TestConversions, RoundTrip_ExactEquality_4m_0p1)
	TEST (TestConversions, TriangleIndicesFollowPattern0)
nav_msgs::msg::OccupancyGrid	to_occupancy_grid (const navmap::NavMap &nm, const std_msgs::msg::Header &header)
	Convert a navmap::NavMap back to nav_msgs::msg::OccupancyGrid.

Function Documentation

from_occupancy_grid()

navmap::NavMap from_occupancy_grid	(	const nav_msgs::msg::OccupancyGrid &	grid,
		std_msgs::msg::Header &	header )

Build a navmap::NavMap from a nav_msgs::msg::OccupancyGrid using a regular triangular surface with shared vertices.

Parameters

[in]	grid	Input ROS OccupancyGrid (row-major, width×height, resolution and origin).
[out]	header	Header to assign to the resulting message.

Returns

A core navmap::NavMap with:

• Vertices: (W+1) * (H+1) laid on the grid plane, with Z = grid.info.origin.position.z.
• Triangles: 2 * W * H (two per cell), using diagonal pattern = 0.
• One surface whose frame matches grid.header.frame_id, and grid metadata filled.
• A per-NavCel layer named "occupancy" of type uint8, with values mapped as: -1 → 255 (unknown), 0..100 → 0..254 (linear scaling).

• Vertex layout follows the grid indexation with shared vertices across adjacent cells.
• Triangle winding and diagonal split are deterministic (pattern = 0).
• If width == 0 or height == 0, the returned map contains no triangles.

Note

The grid origin pose may contain a rotation. The vertex Z is taken from the origin Z; handling of non-zero yaw/roll/pitch (if any) is implementation-defined in the builder.

from_regular_grid()

navmap::NavMap from_regular_grid	(	const pcl::PointCloud< pcl::PointXYZ > &	grid_points,
		navmap_ros_interfaces::msg::NavMap &	out_msg,
		BuildParams	params )

Build a NavMap surface from an organized (grid-shaped) PCL point cloud.

Unlike navmap_ros::from_points – which discovers connectivity by neighbor search over an otherwise-unstructured point set, a heuristic that needs either a generous params.neighbor_radius (at real cost in redundant, overlapping triangles) or leaves gaps on an evenly-sampled surface even when every cell is individually navigable – this overload takes a cloud whose grid connectivity is already known (row-major, cloud.width x cloud.height, exactly as PCL's own "organized point cloud" convention) and builds the two triangles per grid cell directly from the (i, j) indices, the same deterministic scheme navmap_ros::from_occupancy_grid already uses. No neighbor search, no possibility of a meshing-artifact gap: the only triangles skipped are ones that fail the slope filter (params.max_slope_deg) or reference a non-finite vertex, i.e. every remaining hole is a real "not navigable here" gap, not a search-radius artifact.

Parameters

[in]	grid_points	Organized point set (cloud.height must be > 1); row j, column i is at index j * cloud.width + i.
[out]	out_msg	Output transport message mirroring the created NavMap.
[in]	params	Only params.max_slope_deg and params.max_surfaces apply here; the neighbor-search/edge-length/angle fields are meaningless without a search step and are ignored.

Returns

The constructed navmap::NavMap; empty if grid_points is not organized (height <= 1) or is smaller than 2x2.

TEST() [1/15]

TEST	(	FromRegularGrid	,
		FlatGridProducesFullCoverageNoOverlap	)

TEST() [2/15]

TEST	(	FromRegularGrid	,
		GentleSlopeUnderLimitStaysFullyCovered	)

TEST() [3/15]

TEST	(	FromRegularGrid	,
		MatchesFromOccupancyGridWindingPattern	)

TEST() [4/15]

TEST	(	FromRegularGrid	,
		NonFiniteVertexOnlySkipsItsOwnTriangles	)

TEST() [5/15]

TEST	(	FromRegularGrid	,
		TooSmallGridReturnsEmpty	)

TEST() [6/15]

TEST	(	FromRegularGrid	,
		TooSteepCellsAreSkippedNotTheWholeGrid	)

TEST() [7/15]

TEST	(	FromRegularGrid	,
		UnorganizedCloudReturnsEmpty	)

TEST() [8/15]

TEST	(	NavMap_FullConversions	,
		EmptyMap_RoundTrip	)

TEST() [9/15]

TEST	(	NavMap_FullConversions	,
		RoundTrip_All	)

TEST() [10/15]

TEST	(	NavMap_LayerConversions	,
		F32_RoundTrip	)

TEST() [11/15]

TEST	(	NavMap_LayerConversions	,
		F64_RoundTrip	)

TEST() [12/15]

TEST	(	NavMap_LayerConversions	,
		ToMsg_Throws_OnMissingLayer	)

TEST() [13/15]

TEST	(	NavMap_LayerConversions	,
		U8_RoundTrip	)

TEST() [14/15]

TEST	(	TestConversions	,
		RoundTrip_ExactEquality_4m_0p1	)

TEST() [15/15]

TEST	(	TestConversions	,
		TriangleIndicesFollowPattern0	)

to_occupancy_grid()

nav_msgs::msg::OccupancyGrid to_occupancy_grid	(	const navmap::NavMap &	nm,
		const std_msgs::msg::Header &	header )

Convert a navmap::NavMap back to nav_msgs::msg::OccupancyGrid.

Parameters

[in]

nm

Core NavMap to be rasterized as an occupancy grid.

Returns

A ROS OccupancyGrid populated from nm.

Two paths are considered:

• Fast exact path: If the first surface encodes valid grid metadata (GridMeta) and there is a per-NavCel "occupancy" layer of type U8 with size 2 * W * H, the function reconstructs an OccupancyGrid exactly (linear inverse mapping 0..254 → 0..100, 255 → -1).
• Generic fallback: If the exact path is not applicable, the function samples cell centers via a navcel-locator (e.g., locate_navcel) and reads "occupancy" values to populate the grid.

Note

The fallback path assumes the presence of an "occupancy" layer. The precise sampling strategy (bounds, resolution, and handling of cells without a containing navcel) is implementation-defined.

Warning

If the map does not carry grid metadata or the "occupancy" layer is missing, the result may be incomplete or implementation-defined.