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https://github.com/introlab/rtabmap.git
synced 2026-10-04 17:17:47 +08:00
Added doc/test for SensorEvent, added doc for SensorCaptureInfo
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matlabbe
@@ -94,4 +94,9 @@ gtest_discover_tests(test_statistics)
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#Signature.h
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add_executable(test_signature test_signature.cpp)
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target_link_libraries(test_signature gtest_main rtabmap_core)
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gtest_discover_tests(test_signature)
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gtest_discover_tests(test_signature)
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#SensorEvent.h
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add_executable(test_sensorevent test_sensorevent.cpp)
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target_link_libraries(test_sensorevent gtest_main rtabmap_core)
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gtest_discover_tests(test_sensorevent)
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@@ -0,0 +1,323 @@
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#include <gtest/gtest.h>
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#include <rtabmap/core/SensorEvent.h>
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#include <rtabmap/core/SensorData.h>
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#include <rtabmap/core/SensorCaptureInfo.h>
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#include <opencv2/core.hpp>
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using namespace rtabmap;
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// Constructor Tests
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TEST(SensorEventTest, ConstructorFromImage)
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{
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cv::Mat image = cv::Mat::zeros(480, 640, CV_8UC3);
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int seq = 42;
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double stamp = 12345.678;
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std::string cameraName = "camera1";
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SensorEvent event(image, seq, stamp, cameraName);
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EXPECT_EQ(event.getCode(), SensorEvent::kCodeData);
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EXPECT_EQ(event.getClassName(), "SensorEvent");
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EXPECT_EQ(event.cameraName(), cameraName);
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EXPECT_EQ(event.data().id(), seq);
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EXPECT_DOUBLE_EQ(event.data().stamp(), stamp);
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EXPECT_FALSE(event.data().imageRaw().empty());
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}
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TEST(SensorEventTest, ConstructorFromImageDefaults)
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{
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cv::Mat image = cv::Mat::zeros(480, 640, CV_8UC1);
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SensorEvent event(image);
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EXPECT_EQ(event.getCode(), SensorEvent::kCodeData);
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EXPECT_EQ(event.data().id(), 0);
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EXPECT_DOUBLE_EQ(event.data().stamp(), 0.0);
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EXPECT_TRUE(event.cameraName().empty());
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}
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TEST(SensorEventTest, ConstructorEndOfStream)
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{
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SensorEvent event;
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EXPECT_EQ(event.getCode(), SensorEvent::kCodeNoMoreImages);
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EXPECT_EQ(event.getClassName(), "SensorEvent");
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// End-of-stream event may have empty or default sensor data
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}
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TEST(SensorEventTest, ConstructorFromSensorData)
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{
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SensorData data;
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data.setId(100);
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data.setStamp(54321.0);
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cv::Mat image = cv::Mat::ones(240, 320, CV_8UC3) * 128;
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data.setRGBDImage(image, cv::Mat(), CameraModel());
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SensorEvent event(data);
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EXPECT_EQ(event.getCode(), SensorEvent::kCodeData);
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EXPECT_EQ(event.data().id(), 100);
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EXPECT_DOUBLE_EQ(event.data().stamp(), 54321.0);
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EXPECT_TRUE(event.cameraName().empty());
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}
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TEST(SensorEventTest, ConstructorFromSensorDataWithCameraName)
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{
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SensorData data;
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data.setId(200);
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std::string cameraName = "stereo_camera";
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SensorEvent event(data, cameraName);
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EXPECT_EQ(event.getCode(), SensorEvent::kCodeData);
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EXPECT_EQ(event.data().id(), 200);
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EXPECT_EQ(event.cameraName(), cameraName);
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}
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TEST(SensorEventTest, ConstructorFromSensorDataWithCaptureInfo)
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{
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SensorData data;
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data.setId(300);
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data.setStamp(98765.432);
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SensorCaptureInfo captureInfo;
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captureInfo.cameraName = "rgbd_camera";
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captureInfo.id = 300;
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captureInfo.stamp = 98765.432;
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captureInfo.timeCapture = 0.01f;
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captureInfo.timeTotal = 0.05f;
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captureInfo.odomPose = Transform(1.0f, 2.0f, 3.0f, 0, 0, 0);
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SensorEvent event(data, captureInfo);
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EXPECT_EQ(event.getCode(), SensorEvent::kCodeData);
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EXPECT_EQ(event.data().id(), 300);
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EXPECT_EQ(event.cameraName(), "rgbd_camera");
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const auto& info = event.info();
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EXPECT_EQ(info.id, 300);
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EXPECT_DOUBLE_EQ(info.stamp, 98765.432);
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EXPECT_FLOAT_EQ(info.timeCapture, 0.01f);
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EXPECT_FLOAT_EQ(info.timeTotal, 0.05f);
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EXPECT_FLOAT_EQ(info.odomPose.x(), 1.0f);
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}
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// Event Code Tests
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TEST(SensorEventTest, EventCodeData)
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{
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cv::Mat image = cv::Mat::zeros(100, 100, CV_8UC1);
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SensorEvent event(image);
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EXPECT_EQ(event.getCode(), SensorEvent::kCodeData);
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}
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TEST(SensorEventTest, EventCodeNoMoreImages)
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{
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SensorEvent event;
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EXPECT_EQ(event.getCode(), SensorEvent::kCodeNoMoreImages);
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}
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// Class Name Tests
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TEST(SensorEventTest, GetClassName)
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{
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cv::Mat image = cv::Mat::zeros(100, 100, CV_8UC1);
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SensorEvent event1(image);
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SensorEvent event2; // End of stream
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EXPECT_EQ(event1.getClassName(), "SensorEvent");
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EXPECT_EQ(event2.getClassName(), "SensorEvent");
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}
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// Data Access Tests
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TEST(SensorEventTest, DataAccess)
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{
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SensorData data;
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data.setId(500);
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data.setStamp(11111.0);
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cv::Mat image = cv::Mat::ones(100, 100, CV_8UC3) * 255;
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data.setRGBDImage(image, cv::Mat(), CameraModel());
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SensorEvent event(data);
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const auto& retrievedData = event.data();
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EXPECT_EQ(retrievedData.id(), 500);
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EXPECT_DOUBLE_EQ(retrievedData.stamp(), 11111.0);
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EXPECT_FALSE(retrievedData.imageRaw().empty());
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EXPECT_EQ(retrievedData.imageRaw().rows, 100);
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EXPECT_EQ(retrievedData.imageRaw().cols, 100);
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}
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// Camera Name Tests
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TEST(SensorEventTest, CameraName)
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{
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cv::Mat image = cv::Mat::zeros(100, 100, CV_8UC1);
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// Without camera name
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SensorEvent event1(image);
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EXPECT_TRUE(event1.cameraName().empty());
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// With camera name
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SensorEvent event2(image, 0, 0.0, "my_camera");
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EXPECT_EQ(event2.cameraName(), "my_camera");
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// With SensorData and camera name
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SensorData data;
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SensorEvent event3(data, "another_camera");
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EXPECT_EQ(event3.cameraName(), "another_camera");
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}
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// Sensor Capture Info Tests
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TEST(SensorEventTest, SensorCaptureInfo)
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{
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SensorData data;
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data.setId(600);
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SensorCaptureInfo captureInfo;
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captureInfo.cameraName = "test_camera";
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captureInfo.id = 600;
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captureInfo.stamp = 22222.0;
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captureInfo.timeCapture = 0.005f;
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captureInfo.timeDeskewing = 0.001f;
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captureInfo.timeDisparity = 0.010f;
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captureInfo.timeTotal = 0.020f;
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captureInfo.odomPose = Transform(10.0f, 20.0f, 30.0f, 0, 0, 0);
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captureInfo.odomCovariance = cv::Mat::eye(6, 6, CV_64FC1) * 0.1;
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SensorEvent event(data, captureInfo);
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const auto& info = event.info();
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EXPECT_EQ(info.cameraName, "test_camera");
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EXPECT_EQ(info.id, 600);
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EXPECT_DOUBLE_EQ(info.stamp, 22222.0);
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EXPECT_FLOAT_EQ(info.timeCapture, 0.005f);
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EXPECT_FLOAT_EQ(info.timeDeskewing, 0.001f);
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EXPECT_FLOAT_EQ(info.timeDisparity, 0.010f);
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EXPECT_FLOAT_EQ(info.timeTotal, 0.020f);
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EXPECT_FLOAT_EQ(info.odomPose.x(), 10.0f);
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EXPECT_FLOAT_EQ(info.odomPose.y(), 20.0f);
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EXPECT_FLOAT_EQ(info.odomPose.z(), 30.0f);
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EXPECT_FALSE(info.odomCovariance.empty());
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EXPECT_EQ(info.odomCovariance.rows, 6);
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EXPECT_EQ(info.odomCovariance.cols, 6);
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}
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TEST(SensorEventTest, SensorCaptureInfoDefaultValues)
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{
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cv::Mat image = cv::Mat::zeros(100, 100, CV_8UC1);
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SensorEvent event(image, 0, 0.0, "camera");
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const auto& info = event.info();
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EXPECT_EQ(info.id, 0);
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EXPECT_DOUBLE_EQ(info.stamp, 0.0);
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EXPECT_FLOAT_EQ(info.timeCapture, 0.0f);
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EXPECT_FLOAT_EQ(info.timeTotal, 0.0f);
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EXPECT_TRUE(info.odomPose.isNull());
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EXPECT_FALSE(info.odomCovariance.empty()); // Should be initialized to identity
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}
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// Comprehensive Tests
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TEST(SensorEventTest, ComprehensiveUsage)
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{
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// Create sensor data with multiple components
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SensorData data;
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data.setId(1000);
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data.setStamp(99999.999);
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cv::Mat rgb = cv::Mat::ones(480, 640, CV_8UC3) * 128;
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cv::Mat depth = cv::Mat::ones(480, 640, CV_16UC1) * 1000;
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CameraModel model(525.0, 525.0, 320.0, 240.0);
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data.setRGBDImage(rgb, depth, model);
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// Create capture info with timing and odometry
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SensorCaptureInfo captureInfo;
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captureInfo.cameraName = "comprehensive_camera";
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captureInfo.id = 1000;
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captureInfo.stamp = 99999.999;
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captureInfo.timeCapture = 0.010f;
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captureInfo.timeDisparity = 0.020f;
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captureInfo.timeTotal = 0.050f;
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captureInfo.odomPose = Transform(1.5f, 2.5f, 3.5f, 0, 0, 0);
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SensorEvent event(data, captureInfo);
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// Verify event properties
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EXPECT_EQ(event.getCode(), SensorEvent::kCodeData);
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EXPECT_EQ(event.getClassName(), "SensorEvent");
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// Verify sensor data
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EXPECT_EQ(event.data().id(), 1000);
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EXPECT_DOUBLE_EQ(event.data().stamp(), 99999.999);
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EXPECT_FALSE(event.data().imageRaw().empty());
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EXPECT_FALSE(event.data().depthOrRightRaw().empty());
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// Verify capture info
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EXPECT_EQ(event.cameraName(), "comprehensive_camera");
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const auto& info = event.info();
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EXPECT_FLOAT_EQ(info.timeCapture, 0.010f);
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EXPECT_FLOAT_EQ(info.timeDisparity, 0.020f);
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EXPECT_FLOAT_EQ(info.timeTotal, 0.050f);
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EXPECT_FLOAT_EQ(info.odomPose.x(), 1.5f);
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}
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// Edge Cases
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TEST(SensorEventTest, EmptyImage)
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{
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cv::Mat emptyImage;
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SensorEvent event(emptyImage);
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EXPECT_EQ(event.getCode(), SensorEvent::kCodeData);
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EXPECT_TRUE(event.data().imageRaw().empty());
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}
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TEST(SensorEventTest, DifferentImageTypes)
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{
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// Grayscale
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cv::Mat gray = cv::Mat::zeros(100, 100, CV_8UC1);
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SensorEvent event1(gray);
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EXPECT_FALSE(event1.data().imageRaw().empty());
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// Color
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cv::Mat color = cv::Mat::zeros(100, 100, CV_8UC3);
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SensorEvent event2(color);
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EXPECT_FALSE(event2.data().imageRaw().empty());
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// Float
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cv::Mat floatImg = cv::Mat::zeros(100, 100, CV_32FC1);
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SensorEvent event;
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EXPECT_THROW(event = SensorEvent(floatImg), UException);
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}
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// UEvent Inheritance Tests
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TEST(SensorEventTest, UEventInheritance)
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{
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cv::Mat image = cv::Mat::zeros(100, 100, CV_8UC1);
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SensorEvent event(image);
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// Should be usable as UEvent
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UEvent* baseEvent = &event;
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EXPECT_EQ(baseEvent->getCode(), SensorEvent::kCodeData);
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EXPECT_EQ(baseEvent->getClassName(), "SensorEvent");
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}
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TEST(SensorEventTest, PolymorphicBehavior)
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{
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cv::Mat image = cv::Mat::zeros(100, 100, CV_8UC1);
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SensorEvent* event = new SensorEvent(image);
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UEvent* baseEvent = event;
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EXPECT_EQ(baseEvent->getCode(), SensorEvent::kCodeData);
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EXPECT_EQ(baseEvent->getClassName(), "SensorEvent");
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delete event;
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}
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