mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 10:00:23 +08:00
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
362
utilite/test/test_uthread.cpp
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362
utilite/test/test_uthread.cpp
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#include "gtest/gtest.h"
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#include "rtabmap/utilite/UThread.h"
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#include "rtabmap/utilite/UTimer.h"
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#include <thread>
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#include <chrono>
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#include <atomic>
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// Simple test thread
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class SimpleThread : public UThread
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{
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public:
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SimpleThread() : UThread(), counter_(0), started_(false) {}
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virtual ~SimpleThread() {join(true);}
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int getCounter() const { return counter_; }
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bool hasStarted() const { return started_; }
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void reset() { counter_ = 0; started_ = false; }
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protected:
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virtual void mainLoop()
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{
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started_ = true;
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counter_++;
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std::this_thread::sleep_for(std::chrono::milliseconds(10));
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kill(); // Stop after one iteration
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}
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private:
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int counter_;
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bool started_;
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};
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// Thread that runs multiple iterations
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class CountingThread : public UThread
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{
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public:
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CountingThread() : UThread(), counter_(0), maxIterations_(10) {}
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virtual ~CountingThread() {join(true);}
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void setMaxIterations(int max) { maxIterations_ = max; }
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int getCounter() const { return counter_; }
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protected:
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virtual void mainLoop()
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{
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counter_++;
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if(counter_ >= maxIterations_)
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{
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kill();
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}
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std::this_thread::sleep_for(std::chrono::milliseconds(5));
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}
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private:
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int counter_;
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int maxIterations_;
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};
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// Thread with initialization
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class InitThread : public UThread
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{
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public:
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InitThread() : UThread(), initialized_(false), counter_(0) {}
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virtual ~InitThread() {join(true);}
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bool isInitialized() const { return initialized_; }
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int getCounter() const { return counter_; }
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protected:
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virtual void mainLoopBegin()
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{
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initialized_ = true;
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}
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virtual void mainLoop()
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{
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counter_++;
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if(counter_ >= 5)
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{
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kill();
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}
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std::this_thread::sleep_for(std::chrono::milliseconds(5));
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}
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private:
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bool initialized_;
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int counter_;
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};
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// Thread with cleanup
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class CleanupThread : public UThread
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{
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public:
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CleanupThread() : UThread(), cleanedUp_(false), counter_(0) {}
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virtual ~CleanupThread() {join(true);}
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bool isCleanedUp() const { return cleanedUp_; }
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int getCounter() const { return counter_; }
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protected:
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virtual void mainLoop()
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{
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counter_++;
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if(counter_ >= 3)
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{
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kill();
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}
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std::this_thread::sleep_for(std::chrono::milliseconds(5));
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}
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virtual void mainLoopEnd()
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{
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cleanedUp_ = true;
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}
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private:
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bool cleanedUp_;
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int counter_;
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};
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TEST(UThreadTest, Constructor)
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{
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SimpleThread thread;
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EXPECT_TRUE(thread.isIdle());
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EXPECT_FALSE(thread.isRunning());
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EXPECT_FALSE(thread.isCreating());
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EXPECT_FALSE(thread.isKilled());
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}
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TEST(UThreadTest, Start)
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{
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SimpleThread thread;
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thread.start();
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EXPECT_TRUE(thread.isRunning() || thread.isCreating());
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// Wait up to 1 s for mainLoop to actually execute. We can't reliably
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// assert isRunning() at a fixed offset: SimpleThread sleeps ~10 ms then
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// self-kills, so on a slow CI VM the thread can already be in kSKilled
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// by the time we poll. hasStarted() flips to true on first entry to
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// mainLoop and stays true, so it's race-free.
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UTimer waitForStart;
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while(!thread.hasStarted() && waitForStart.ticks() < 1.0)
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{
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std::this_thread::sleep_for(std::chrono::milliseconds(1));
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}
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EXPECT_TRUE(thread.hasStarted());
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// Poll for cleanup. SimpleThread sleeps ~10 ms then self-kills; on slow
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// CI VMs the kSRunning -> kSKilled -> kSIdle settle can take longer than
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// a single fixed sleep, so wait up to 1 s.
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UTimer waitForFinish;
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while(!(thread.isKilled() || thread.isIdle()) && waitForFinish.ticks() < 1.0)
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{
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std::this_thread::sleep_for(std::chrono::milliseconds(1));
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}
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EXPECT_TRUE(thread.isKilled() || thread.isIdle());
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thread.join();
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}
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TEST(UThreadTest, Join)
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{
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SimpleThread thread;
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UTimer timer;
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thread.start();
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thread.join();
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EXPECT_GT(timer.elapsed(), 0.01);
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EXPECT_TRUE(thread.isIdle());
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EXPECT_GT(thread.getCounter(), 0);
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}
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TEST(UThreadTest, JoinWait)
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{
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CountingThread thread;
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thread.setMaxIterations(10);
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thread.start();
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// Join wait
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thread.join(false);
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EXPECT_TRUE(thread.isIdle());
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EXPECT_EQ(thread.getCounter(), 10); // Should have processed all iterations
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}
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TEST(UThreadTest, JoinKillFirst)
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{
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CountingThread thread;
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thread.setMaxIterations(1000);
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thread.start();
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// Wait a bit
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std::this_thread::sleep_for(std::chrono::milliseconds(50));
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// Join with kill
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thread.join(true);
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EXPECT_TRUE(thread.isIdle());
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EXPECT_LT(thread.getCounter(), 1000); // Should have stopped early
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}
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TEST(UThreadTest, Kill)
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{
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CountingThread thread;
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thread.setMaxIterations(1000);
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thread.start();
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// Wait a bit
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std::this_thread::sleep_for(std::chrono::milliseconds(50));
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thread.kill();
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// Wait for it to finish
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thread.join();
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EXPECT_TRUE(thread.isIdle());
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EXPECT_LT(thread.getCounter(), 1000); // Should have stopped early
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}
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TEST(UThreadTest, MultipleStart)
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{
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SimpleThread thread;
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thread.start();
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// Try to start again (should be ignored)
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thread.start();
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thread.join();
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EXPECT_TRUE(thread.isIdle());
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}
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TEST(UThreadTest, MainLoopBegin)
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{
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InitThread thread;
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thread.start();
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thread.join();
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EXPECT_TRUE(thread.isInitialized());
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EXPECT_GT(thread.getCounter(), 0);
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}
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TEST(UThreadTest, MainLoopEnd)
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{
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CleanupThread thread;
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thread.start();
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thread.join();
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EXPECT_TRUE(thread.isCleanedUp());
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EXPECT_GT(thread.getCounter(), 0);
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}
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TEST(UThreadTest, ThreadId)
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{
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SimpleThread thread;
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unsigned long mainThreadId = UThread::currentThreadId();
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thread.start();
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unsigned long threadId = thread.getThreadId();
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EXPECT_NE(threadId, 0u);
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EXPECT_NE(threadId, mainThreadId);
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thread.join();
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}
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TEST(UThreadTest, CurrentThreadId)
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{
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unsigned long id1 = UThread::currentThreadId();
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unsigned long id2 = UThread::currentThreadId();
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EXPECT_EQ(id1, id2);
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EXPECT_NE(id1, 0u);
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}
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TEST(UThreadTest, SetPriority)
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{
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SimpleThread thread;
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thread.setPriority(UThread::kPLow);
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thread.setPriority(UThread::kPNormal);
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thread.setPriority(UThread::kPAboveNormal);
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thread.start();
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thread.join();
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SUCCEED();
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}
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TEST(UThreadTest, SetAffinity)
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{
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SimpleThread thread;
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thread.setAffinity(0); // No affinity
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thread.setAffinity(1); // CPU 1
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thread.start();
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thread.join();
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SUCCEED();
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}
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TEST(UThreadTest, ThreadHandle)
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{
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SimpleThread thread;
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thread.start();
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UThread::Handle handle = thread.getThreadHandle();
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EXPECT_NE(handle, static_cast<UThread::Handle>(InvalidHandle));
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thread.join();
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}
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TEST(UThreadTest, MultipleThreads)
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{
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std::vector<SimpleThread*> threads;
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const int numThreads = 5;
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for(int i = 0; i < numThreads; ++i)
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{
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threads.push_back(new SimpleThread());
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threads[i]->start();
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}
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for(int i = 0; i < numThreads; ++i)
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{
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threads[i]->join();
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EXPECT_GT(threads[i]->getCounter(), 0);
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delete threads[i];
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}
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}
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TEST(UThreadTest, DestructorJoin)
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{
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// Test that destructor properly cleans up
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{
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SimpleThread thread;
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thread.start();
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// Destructor should call join(true) if implemented
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}
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SUCCEED();
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}
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TEST(UThreadTest, KillBeforeStart)
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{
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SimpleThread thread;
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thread.kill(); // Kill before start
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thread.start();
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thread.join();
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// Should still work
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SUCCEED();
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}
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TEST(UThreadTest, JoinBeforeStart)
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{
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SimpleThread thread;
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thread.join(); // Join before start
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thread.start();
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thread.join();
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SUCCEED();
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}
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