mirror of
https://github.com/introlab/rtabmap.git
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Adding doc and tests (#1492)
* added doc and tests for util2d.h * updated cmake-ros ci * Added util3d.h doc and tests * util3d_transforms.h: Added doc and tests * util3d_filtering.h: started doc and test * util3d_filtering.h: more tests and doc * Added more doc/tests * finished util3d_filtering doc and tests * added test for util2d::depthBleedingFiltering * Added util3d_registration tests * Added util3d_features.h doc/tests * added doc/tests for util3d_correspondences.h * added doc/gtest for util3d_mapping.h (missing hpp functions) * finished testing util3d_mapping.hpp * Added util3d_motion_estimation.h tests (2D->3D done) * finished util3d_motion_estimation.h tests * minimal util3d_surface.h * Added Transform and VisualWord tests * Added doc for CameraModel and StereoCameraModel * Added more logs in ros ci * Passing tests on fical * improved all devcontainer * added devcontainer kilted, fixed source setup.bash, removed ldconfig in ros-cmake workflow * cleanup * source ros * Added utilite tests * Added testing to appveyor, github actions cancellable on re-commit on same branch * appveyor testing without all targets * appveyor: specifying ALL_BUILD target * Fixed Util2dTest.NMSImageBoundsRespected test * Fixing PCL Indices error on old pcl * Added VWDictionary tests and doc. Fixed LSH not working (fix from https://github.com/flann-lib/flann/pull/472 * fixing some appveyor CI errors, added test to check dictionary serialization against all type * Added StereoDense, StereoBM and StereoSGBM doc and tests * Added Stereo tests * Added CameraModel and StereoCameraModel tests * Added doc and test for Statistics * Added doc/tests for Signature * Added doc/test for SensorEvent, added doc for SensorCaptureInfo * Added doc to SensorData * Added SensorData tests * Added SensorCapture and SensorCaptureThread doc and tests * fixed sensordata test * updated SSC test and doc * Added doc and tests for BayesFilter class * Enabled testing on mac, updated windows testing like on linux * added test_link * fixed unresolved on windows * fixed ThreadHandle error on macos ci * Added GPS and GeodeticCoords tests * Added tests for compression * Added Odometry tests (base class only) * Added DBDriver tests * Added coverage report * uniformized test names * fixing concurancy and coverage ci * dont built tools, examples and app for coverage build * fixed report tool rebuilt without qt compilation error * updated coverage option * updated coverage config * added doc CI job * fixing windows and mac ci errors * Added DBDriverSqlite3 tests * Added IMU tests * Added Graph tests * fixing flaky macos test * Added IMUThread and IMUFilter tests * Added Landmarks tests * Added LASWriter tests * fixing seed flaky test * fixing flaky macos timing tests * Added LocalGrid tests * Added LocalGridMaker tests * fixing ci errors * Added GlobalMap tests * Added doc for EnvSensor * Added Features2D tests * Added Registration tests * Added RegistrationVis tests * Added doc for Rtabmap and Memory classes * Added Memory and Rtabmap tests * making some tests less flaky * lcov 1.14 support * updated compatible tool arguments * Added integration tests (RGB-D, Stereo, Lidar2d, Lidar3d) * More octomap checks * Refactored how/when python interpretor is created to simplify library usage * Added python tests * fixed some flaky tests * suppressed some third party related warnings * fixed ceres tests * more flaky fixes * Fixing tests without libpointmatcher * Added RANSAC rejection filter to PCL ICP * fixing multi platform flakiness * Added test to detect regression * Fixing windows pcl link error * fixed some macos flakiness * bigger 2D2D registration error on opencv 4.6.0 * flakiness * fixing flaky tests on windows and mac * flaky thread test on slow mac VM * windows slow test * fixing more ci erros * fxing temp dir on windows * Added Optimizer tests and discovered some bugs (fixed) * fixing flaky tests in mac and windows * Added Optimizer doc * Added GTSAM BA, updated Ceres to use g2o ba parameters. Renamed g2o's ba related parameters to Optimizer group and used by both gtsam and ceres. * fixing build without gtsam * fixing home dir * fixing python ci isssues * Added multicam ba tests * Added Ceres multicam BA support * Aligned BundleAdjustment parameters with Optimizer/Strategy to avoid confusion in the code * Added BA integration test * Added robust graph optimization integration test * Added loop3it test * Added stereo20Hz test * Added smartfactor gtsam * Fixed bugged check and warn if python didn't return any descriptors * Fixing gtsam version build issues * fixing tilt on windows ci * loosing ceres integration test for ci * mac ci flakiness * updating missing param in gui * updating test bound for mac * added appearance-based tests, set min gftt quality to quality level * testing more stuff * improving features2d tests * ci flakiness * fixing flaky ci * ci fixes * flaky fixes * Added RegistrationIcp tests * Added icp integration test with real-worl corridor like env * intermediate nodes * fixing enum * Updated test to catch #1714 * Fixed 2d corridor failing on pcl * flaky pnp test * flaky brisk test * Set rtabmap_integration test as long * updating loop closure test * flaky ci tests * TEsting roundtrip g2o/toro save/load * loosing test bound * fixed cuda capable checks * flaky tests * Debugging test hanging * more debugging stuff * updating limit * windows: disabled cuda on ci to avoid incompatible driver issue. Fixing a bad test mem allocation * trying fixing cuda hanging issue * fixing ci flakyness * flaky tests * Updated BOW flaky tests by checking min precision/recall instead of recall@100precision. Fixed signature test * CameraModel::load() test initRectificationMap param * test dbdriver load dictionary idsOnly * Memory: test keepLinkedInDb param * added dummyDictionary tests * test intermediate nodes count * Added MarkerDetector tests * reverted breaking change of UMutex and USemaphore * Features2d: fixed compiltion warnings with clang about override * clang warnings * fixing test build with pcl 1.8 * g2o and gtsam build errors on android * opencv5 test fixes * disabled testing for ios and android builds * normalized endline characters for easier diff * added LF CRLF rule * bump 0.23.10. fixing doc version * Publish rtabmap website doc from ci * fixing MSCVC build error * macos icp flaky test * fixing ceres macos test bound * ficing more flaky tests * fixing opencv5 related test errors. Also fixed an actual bug in ENU_WGS84ToGeocentric_WGS84() * added comment about mrpt change * removed rosdoc2 (will add it for rtabmap_ros later) * fixing website style * updated download links * locally deployable website with api * sweep doxygen issues * improved/revised doxygen main pages * removed examples empty page * Updated doxygen style * more concise doxygen groups * added api link on main readme * fixing utilite test error * fixing CommonFilteringGroundNormalsUp test * updated precisionRecall test bounds for Freak and brief descriptors * fixing scale check in ba tests * disabled tests on windows cuda build (missing dlls amd runner cannot test cuda anyway) * ceres: missing suitesparse dep in windows ci * adjusting recall thr for fast/freak * ficing more flaky tests * fixing flaky tests * disabled coverage in ros ci * Enable integration tests for ros ci jobs * loosing up some threshold for failing tests * trigger cache * fixing test data in ros ci. Updated flaky test for mac * slaking some test limit * Fixed rtabmap-detectMoreLoopClosures inverted output value * loosing up sift recall on mac * optimizer re-ordered distribution for reproducible results (mac g2o) * macos dump test crash log * combining all tests to save time on shared library reload. Also fixed Logs with missing arguments. * Added ENABLE_FORMAT_ERRORS cmake option * do test only one time * fixed all format warnings * format security android build errors * less verbose tests * updated ImuUThread test * fixed a log * Fixed libpointmatcher 2d normals eigen issue * Fixing libpointmatcher conversion issues * fixing libpointmatcher test on windows ci * cleanup comments, relax some test thr * disabled sequoia-intel ci build (too flaky, would need extensive testing directly on that machine)
This commit is contained in:
matlabbe
447
corelib/test/test_sensorcapture.cpp
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447
corelib/test/test_sensorcapture.cpp
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#include <gtest/gtest.h>
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#include <rtabmap/core/SensorCapture.h>
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#include <rtabmap/core/SensorData.h>
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#include <rtabmap/core/SensorCaptureInfo.h>
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#include <rtabmap/core/Transform.h>
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#include <rtabmap/utilite/UTimer.h>
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#include <opencv2/core.hpp>
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using namespace rtabmap;
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// Mock SensorCapture implementation for testing
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class MockSensorCapture : public SensorCapture
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{
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public:
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MockSensorCapture(float frameRate = 0, const Transform & localTransform = Transform::getIdentity()) :
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SensorCapture(frameRate, localTransform),
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initCalled_(false),
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initResult_(true),
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serial_("MOCK_SENSOR_001"),
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odomProvided_(false),
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captureCount_(0)
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{
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}
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virtual ~MockSensorCapture() {}
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virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "")
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{
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initCalled_ = true;
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calibrationFolder_ = calibrationFolder;
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cameraName_ = cameraName;
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return initResult_;
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}
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virtual std::string getSerial() const
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{
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return serial_;
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}
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virtual bool odomProvided() const
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{
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return odomProvided_;
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}
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virtual bool getPose(double stamp, Transform & pose, cv::Mat & covariance, double maxWaitTime = 0.06)
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{
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if (odomProvided_)
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{
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pose = Transform(1, 0, 0, 0, 0, 0, 1);
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covariance = cv::Mat::eye(6, 6, CV_64FC1);
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return true;
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}
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return false;
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}
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// Test helpers
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void setInitResult(bool result) { initResult_ = result; }
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void setSerial(const std::string & serial) { serial_ = serial; }
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void setOdomProvided(bool provided) { odomProvided_ = true; }
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bool wasInitCalled() const { return initCalled_; }
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std::string getCalibrationFolder() const { return calibrationFolder_; }
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std::string getCameraName() const { return cameraName_; }
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int getCaptureCount() const { return captureCount_; }
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protected:
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virtual SensorData captureData(SensorCaptureInfo * info = 0)
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{
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++captureCount_;
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cv::Mat image = cv::Mat::ones(480, 640, CV_8UC3) * 128;
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SensorData data(image, getNextSeqID(), UTimer::now());
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return data;
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}
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private:
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bool initCalled_;
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bool initResult_;
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std::string serial_;
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bool odomProvided_;
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std::string calibrationFolder_;
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std::string cameraName_;
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int captureCount_;
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};
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// Constructor Tests
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TEST(SensorCaptureTest, DefaultConstructor)
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{
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MockSensorCapture sensor;
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EXPECT_EQ(sensor.getFrameRate(), 0.0f);
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EXPECT_TRUE(sensor.getLocalTransform().isIdentity());
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EXPECT_FALSE(sensor.wasInitCalled());
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EXPECT_EQ(sensor.getSerial(), "MOCK_SENSOR_001");
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EXPECT_FALSE(sensor.odomProvided());
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}
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TEST(SensorCaptureTest, ConstructorWithFrameRate)
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{
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float frameRate = 30.0f;
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MockSensorCapture sensor(frameRate);
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EXPECT_FLOAT_EQ(sensor.getFrameRate(), frameRate);
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EXPECT_TRUE(sensor.getLocalTransform().isIdentity());
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}
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TEST(SensorCaptureTest, ConstructorWithLocalTransform)
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{
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Transform localTransform(1, 0, 0, 0, 0, 0, 1);
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MockSensorCapture sensor(0, localTransform);
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EXPECT_EQ(sensor.getLocalTransform(), localTransform);
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}
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TEST(SensorCaptureTest, ConstructorWithFrameRateAndTransform)
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{
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float frameRate = 15.0f;
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Transform localTransform(0, 0, 1, 0, -1, 0, 0, 0, 0, -1, 0, 0);
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MockSensorCapture sensor(frameRate, localTransform);
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EXPECT_FLOAT_EQ(sensor.getFrameRate(), frameRate);
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EXPECT_EQ(sensor.getLocalTransform(), localTransform);
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}
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// Init Tests
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TEST(SensorCaptureTest, InitDefault)
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{
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MockSensorCapture sensor;
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EXPECT_TRUE(sensor.init());
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EXPECT_TRUE(sensor.wasInitCalled());
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EXPECT_EQ(sensor.getCalibrationFolder(), ".");
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EXPECT_EQ(sensor.getCameraName(), "");
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}
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TEST(SensorCaptureTest, InitWithCalibrationFolder)
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{
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MockSensorCapture sensor;
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std::string folder = "/path/to/calibration";
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EXPECT_TRUE(sensor.init(folder));
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EXPECT_EQ(sensor.getCalibrationFolder(), folder);
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EXPECT_EQ(sensor.getCameraName(), "");
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}
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TEST(SensorCaptureTest, InitWithCalibrationFolderAndCameraName)
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{
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MockSensorCapture sensor;
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std::string folder = "/path/to/calibration";
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std::string cameraName = "camera1";
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EXPECT_TRUE(sensor.init(folder, cameraName));
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EXPECT_EQ(sensor.getCalibrationFolder(), folder);
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EXPECT_EQ(sensor.getCameraName(), cameraName);
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}
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TEST(SensorCaptureTest, InitFailure)
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{
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MockSensorCapture sensor;
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sensor.setInitResult(false);
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EXPECT_FALSE(sensor.init());
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EXPECT_TRUE(sensor.wasInitCalled());
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}
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// Serial Tests
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TEST(SensorCaptureTest, GetSerial)
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{
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MockSensorCapture sensor;
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EXPECT_EQ(sensor.getSerial(), "MOCK_SENSOR_001");
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sensor.setSerial("CUSTOM_SERIAL_123");
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EXPECT_EQ(sensor.getSerial(), "CUSTOM_SERIAL_123");
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}
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// Frame Rate Tests
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TEST(SensorCaptureTest, SetGetFrameRate)
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{
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MockSensorCapture sensor;
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EXPECT_EQ(sensor.getFrameRate(), 0.0f);
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sensor.setFrameRate(30.0f);
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EXPECT_FLOAT_EQ(sensor.getFrameRate(), 30.0f);
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sensor.setFrameRate(0.0f);
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EXPECT_FLOAT_EQ(sensor.getFrameRate(), 0.0f);
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sensor.setFrameRate(60.0f);
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EXPECT_FLOAT_EQ(sensor.getFrameRate(), 60.0f);
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}
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// Local Transform Tests
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TEST(SensorCaptureTest, SetGetLocalTransform)
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{
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MockSensorCapture sensor;
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EXPECT_TRUE(sensor.getLocalTransform().isIdentity());
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Transform transform(1, 0, 0, 0, 0, 0, 1);
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sensor.setLocalTransform(transform);
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EXPECT_EQ(sensor.getLocalTransform(), transform);
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Transform transform2(0, 0, 1, 0, -1, 0, 0, 0, 0, -1, 0, 0);
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sensor.setLocalTransform(transform2);
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EXPECT_EQ(sensor.getLocalTransform(), transform2);
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}
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// Reset Timer Tests
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TEST(SensorCaptureTest, ResetTimer)
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{
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MockSensorCapture sensor;
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// Reset should not throw
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EXPECT_NO_THROW(sensor.resetTimer());
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// After reset, timer should be ready for frame rate control
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sensor.setFrameRate(10.0f);
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sensor.resetTimer();
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// First capture should be fast (no throttling needed)
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SensorData data = sensor.takeData();
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EXPECT_TRUE(data.isValid());
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}
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// TakeData Tests
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TEST(SensorCaptureTest, TakeDataBasic)
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{
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MockSensorCapture sensor;
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SensorData data = sensor.takeData();
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EXPECT_TRUE(data.isValid());
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EXPECT_GT(data.id(), 0);
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EXPECT_GT(data.stamp(), 0.0);
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EXPECT_FALSE(data.imageRaw().empty());
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EXPECT_EQ(sensor.getCaptureCount(), 1);
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}
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TEST(SensorCaptureTest, TakeDataWithInfo)
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{
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MockSensorCapture sensor;
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SensorCaptureInfo info;
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SensorData data = sensor.takeData(&info);
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EXPECT_TRUE(data.isValid());
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EXPECT_EQ(info.id, data.id());
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EXPECT_DOUBLE_EQ(info.stamp, data.stamp());
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EXPECT_GT(info.timeCapture, 0.0);
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EXPECT_LE(info.timeCapture, 0.1); // Should be very fast for mock
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}
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TEST(SensorCaptureTest, TakeDataSequenceIDs)
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{
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MockSensorCapture sensor;
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SensorData data1 = sensor.takeData();
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SensorData data2 = sensor.takeData();
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SensorData data3 = sensor.takeData();
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EXPECT_EQ(data1.id() + 1, data2.id());
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EXPECT_EQ(data2.id() + 1, data3.id());
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EXPECT_EQ(sensor.getCaptureCount(), 3);
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}
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TEST(SensorCaptureTest, TakeDataNoFrameRateThrottling)
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{
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MockSensorCapture sensor;
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sensor.setFrameRate(0.0f); // Unlimited
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UTimer timer;
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SensorData data1 = sensor.takeData();
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SensorData data2 = sensor.takeData();
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double elapsed = timer.ticks();
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// Without throttling, captures should be very fast
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EXPECT_LT(elapsed, 0.1);
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EXPECT_TRUE(data1.isValid());
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EXPECT_TRUE(data2.isValid());
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}
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TEST(SensorCaptureTest, TakeDataWithFrameRateThrottling)
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{
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MockSensorCapture sensor;
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sensor.setFrameRate(10.0f); // 10 Hz = 100ms per frame
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sensor.resetTimer();
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UTimer timer;
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SensorData data1 = sensor.takeData();
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SensorData data2 = sensor.takeData();
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double elapsed = timer.ticks();
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// With 10 Hz throttling, two captures should wait ~100 ms each (~200 ms total).
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EXPECT_GE(elapsed, 0.19);
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EXPECT_LE(elapsed, 1.0); // allow scheduler jitter on loaded CI runners (e.g. macOS overshot 0.5 by ~3 ms)
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EXPECT_TRUE(data1.isValid());
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EXPECT_TRUE(data2.isValid());
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}
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// OdomProvided Tests
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TEST(SensorCaptureTest, OdomProvidedDefault)
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{
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MockSensorCapture sensor;
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EXPECT_FALSE(sensor.odomProvided());
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}
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TEST(SensorCaptureTest, OdomProvidedEnabled)
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{
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MockSensorCapture sensor;
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sensor.setOdomProvided(true);
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EXPECT_TRUE(sensor.odomProvided());
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}
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// GetPose Tests
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TEST(SensorCaptureTest, GetPoseDefault)
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{
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MockSensorCapture sensor;
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Transform pose;
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cv::Mat covariance;
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EXPECT_FALSE(sensor.getPose(0.0, pose, covariance));
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}
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TEST(SensorCaptureTest, GetPoseWithOdom)
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{
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MockSensorCapture sensor;
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sensor.setOdomProvided(true);
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Transform pose;
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cv::Mat covariance;
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EXPECT_TRUE(sensor.getPose(0.0, pose, covariance));
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EXPECT_FALSE(pose.isNull());
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EXPECT_FALSE(covariance.empty());
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EXPECT_EQ(covariance.rows, 6);
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EXPECT_EQ(covariance.cols, 6);
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}
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// Comprehensive Usage Test
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TEST(SensorCaptureTest, ComprehensiveUsage)
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{
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// Create sensor with frame rate and transform
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float frameRate = 20.0f;
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Transform localTransform(0, 0, 1, 0, -1, 0, 0, 0, 0, -1, 0, 0);
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MockSensorCapture sensor(frameRate, localTransform);
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// Initialize
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EXPECT_TRUE(sensor.init("/calib", "test_camera"));
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EXPECT_EQ(sensor.getCalibrationFolder(), "/calib");
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EXPECT_EQ(sensor.getCameraName(), "test_camera");
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// Verify settings
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EXPECT_FLOAT_EQ(sensor.getFrameRate(), frameRate);
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EXPECT_EQ(sensor.getLocalTransform(), localTransform);
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EXPECT_EQ(sensor.getSerial(), "MOCK_SENSOR_001");
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// Change settings
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sensor.setFrameRate(30.0f);
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Transform newTransform = Transform::getIdentity();
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sensor.setLocalTransform(newTransform);
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sensor.setSerial("NEW_SERIAL");
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EXPECT_FLOAT_EQ(sensor.getFrameRate(), 30.0f);
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EXPECT_EQ(sensor.getLocalTransform(), newTransform);
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EXPECT_EQ(sensor.getSerial(), "NEW_SERIAL");
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// Capture data
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sensor.resetTimer();
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SensorCaptureInfo info;
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SensorData data = sensor.takeData(&info);
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EXPECT_TRUE(data.isValid());
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EXPECT_EQ(info.id, data.id());
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EXPECT_DOUBLE_EQ(info.stamp, data.stamp());
|
||||
EXPECT_GT(info.timeCapture, 0.0);
|
||||
EXPECT_EQ(sensor.getCaptureCount(), 1);
|
||||
}
|
||||
|
||||
// Edge Cases
|
||||
|
||||
TEST(SensorCaptureTest, TakeDataMultipleCalls)
|
||||
{
|
||||
MockSensorCapture sensor;
|
||||
|
||||
for (int i = 0; i < 10; ++i)
|
||||
{
|
||||
SensorData data = sensor.takeData();
|
||||
EXPECT_TRUE(data.isValid());
|
||||
}
|
||||
|
||||
EXPECT_EQ(sensor.getCaptureCount(), 10);
|
||||
}
|
||||
|
||||
TEST(SensorCaptureTest, TakeDataWithNullInfo)
|
||||
{
|
||||
MockSensorCapture sensor;
|
||||
|
||||
// Should not crash with null info
|
||||
SensorData data = sensor.takeData(nullptr);
|
||||
EXPECT_TRUE(data.isValid());
|
||||
}
|
||||
|
||||
TEST(SensorCaptureTest, HighFrameRate)
|
||||
{
|
||||
MockSensorCapture sensor;
|
||||
sensor.setFrameRate(1000.0f); // Very high frame rate
|
||||
sensor.resetTimer();
|
||||
|
||||
// Should handle high frame rate gracefully
|
||||
UTimer timer;
|
||||
SensorData data = sensor.takeData();
|
||||
double elapsed = timer.ticks();
|
||||
|
||||
EXPECT_TRUE(data.isValid());
|
||||
EXPECT_GE(elapsed, 0.001);
|
||||
EXPECT_LT(elapsed, 0.01);
|
||||
}
|
||||
|
||||
TEST(SensorCaptureTest, VeryLowFrameRate)
|
||||
{
|
||||
MockSensorCapture sensor;
|
||||
sensor.setFrameRate(2.0f); // 2 Hz = 500 ms per frame
|
||||
sensor.resetTimer();
|
||||
|
||||
UTimer timer;
|
||||
SensorData data = sensor.takeData();
|
||||
double elapsed = timer.ticks();
|
||||
|
||||
EXPECT_TRUE(data.isValid());
|
||||
EXPECT_GE(elapsed, 0.5);
|
||||
EXPECT_LT(elapsed, 0.75); // allow scheduler jitter on loaded CI runners (e.g. macOS)
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user