mirror of
https://github.com/introlab/rtabmap.git
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Added coverage report
This commit is contained in:
matlabbe
+30
-30
@@ -4,149 +4,149 @@ add_definitions("-DRTABMAP_TEST_DATA_ROOT=\"${TEST_DATA_ROOT}\"")
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#util2d.h
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add_executable(test_util2d test_util2d.cpp)
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target_link_libraries(test_util2d gtest_main rtabmap_core)
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gtest_discover_tests(test_util2d)
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add_test(NAME test_util2d COMMAND test_util2d)
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#util3d.h
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add_executable(test_util3d test_util3d.cpp)
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target_link_libraries(test_util3d gtest_main rtabmap_core)
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gtest_discover_tests(test_util3d)
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add_test(NAME test_util3d COMMAND test_util3d)
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#util3d_transforms.h
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add_executable(test_util3d_transforms test_util3d_transforms.cpp)
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target_link_libraries(test_util3d_transforms gtest_main rtabmap_core)
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gtest_discover_tests(test_util3d_transforms)
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add_test(NAME test_util3d_transforms COMMAND test_util3d_transforms)
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#util3d_filtering.h
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add_executable(test_util3d_filtering test_util3d_filtering.cpp)
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target_link_libraries(test_util3d_filtering gtest_main rtabmap_core)
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gtest_discover_tests(test_util3d_filtering)
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add_test(NAME test_util3d_filtering COMMAND test_util3d_filtering)
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#util3d_registration.h
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add_executable(test_util3d_registration test_util3d_registration.cpp)
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target_link_libraries(test_util3d_registration gtest_main rtabmap_core)
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gtest_discover_tests(test_util3d_registration)
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add_test(NAME test_util3d_registration COMMAND test_util3d_registration)
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#util3d_features.h
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add_executable(test_util3d_features test_util3d_features.cpp)
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target_link_libraries(test_util3d_features gtest_main rtabmap_core)
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gtest_discover_tests(test_util3d_features)
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add_test(NAME test_util3d_features COMMAND test_util3d_features)
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#util3d_correspondences.h
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add_executable(test_util3d_correspondences test_util3d_correspondences.cpp)
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target_link_libraries(test_util3d_correspondences gtest_main rtabmap_core)
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gtest_discover_tests(test_util3d_correspondences)
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add_test(NAME test_util3d_correspondences COMMAND test_util3d_correspondences)
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#util3d_mapping.h
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add_executable(test_util3d_mapping test_util3d_mapping.cpp)
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target_link_libraries(test_util3d_mapping gtest_main rtabmap_core)
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gtest_discover_tests(test_util3d_mapping)
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add_test(NAME test_util3d_mapping COMMAND test_util3d_mapping)
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#util3d_motion_estimation.h
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add_executable(test_util3d_motion_estimation test_util3d_motion_estimation.cpp)
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target_link_libraries(test_util3d_motion_estimation gtest_main rtabmap_core)
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gtest_discover_tests(test_util3d_motion_estimation)
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add_test(NAME test_util3d_motion_estimation COMMAND test_util3d_motion_estimation)
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#util3d_surface.h
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add_executable(test_util3d_surface test_util3d_surface.cpp)
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target_link_libraries(test_util3d_surface gtest_main rtabmap_core)
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gtest_discover_tests(test_util3d_surface)
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add_test(NAME test_util3d_surface COMMAND test_util3d_surface)
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#VisualWord.h
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add_executable(test_visualword test_visualword.cpp)
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target_link_libraries(test_visualword gtest_main rtabmap_core)
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gtest_discover_tests(test_visualword)
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add_test(NAME test_visualword COMMAND test_visualword)
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#VWDictionary.h
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add_executable(test_vwdictionary test_vwdictionary.cpp)
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target_link_libraries(test_vwdictionary gtest_main rtabmap_core)
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gtest_discover_tests(test_vwdictionary)
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add_test(NAME test_vwdictionary COMMAND test_vwdictionary)
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#Transform.h
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add_executable(test_transform test_transform.cpp)
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target_link_libraries(test_transform gtest_main rtabmap_core)
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gtest_discover_tests(test_transform)
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add_test(NAME test_transform COMMAND test_transform)
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#StereoDense.h (tests both BM and SGBM strategies)
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add_executable(test_stereo_dense test_stereo_dense.cpp)
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target_link_libraries(test_stereo_dense gtest_main rtabmap_core)
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gtest_discover_tests(test_stereo_dense)
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add_test(NAME test_stereo_dense COMMAND test_stereo_dense)
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#Stereo.h (tests both BlockMatching and OpticalFlow strategies)
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add_executable(test_stereo test_stereo.cpp)
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target_link_libraries(test_stereo gtest_main rtabmap_core)
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gtest_discover_tests(test_stereo)
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add_test(NAME test_stereo COMMAND test_stereo)
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#CameraModel.h
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add_executable(test_cameramodel test_cameramodel.cpp)
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target_link_libraries(test_cameramodel gtest_main rtabmap_core)
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gtest_discover_tests(test_cameramodel)
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add_test(NAME test_cameramodel COMMAND test_cameramodel)
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#StereoCameraModel.h
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add_executable(test_stereocameramodel test_stereocameramodel.cpp)
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target_link_libraries(test_stereocameramodel gtest_main rtabmap_core)
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gtest_discover_tests(test_stereocameramodel)
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add_test(NAME test_stereocameramodel COMMAND test_stereocameramodel)
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#Statistics.h
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add_executable(test_statistics test_statistics.cpp)
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target_link_libraries(test_statistics gtest_main rtabmap_core)
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gtest_discover_tests(test_statistics)
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add_test(NAME test_statistics COMMAND test_statistics)
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#BayesFilter.h
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add_executable(test_bayesfilter test_bayesfilter.cpp)
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target_link_libraries(test_bayesfilter gtest_main rtabmap_core)
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gtest_discover_tests(test_bayesfilter)
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add_test(NAME test_bayesfilter COMMAND test_bayesfilter)
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#Link.h
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add_executable(test_link test_link.cpp)
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target_link_libraries(test_link gtest_main rtabmap_core)
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gtest_discover_tests(test_link)
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add_test(NAME test_link COMMAND test_link)
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#GPS.h
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add_executable(test_gps test_gps.cpp)
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target_link_libraries(test_gps gtest_main rtabmap_core)
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gtest_discover_tests(test_gps)
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add_test(NAME test_gps COMMAND test_gps)
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#GeodeticCoords.h
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add_executable(test_geodeticcoords test_geodeticcoords.cpp)
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target_link_libraries(test_geodeticcoords gtest_main rtabmap_core)
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gtest_discover_tests(test_geodeticcoords)
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add_test(NAME test_geodeticcoords COMMAND test_geodeticcoords)
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#Compression.h
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add_executable(test_compression test_compression.cpp)
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target_link_libraries(test_compression gtest_main rtabmap_core)
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gtest_discover_tests(test_compression)
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add_test(NAME test_compression COMMAND test_compression)
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#Odometry.h
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add_executable(test_odometry test_odometry.cpp)
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target_link_libraries(test_odometry gtest_main rtabmap_core)
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gtest_discover_tests(test_odometry)
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add_test(NAME test_odometry COMMAND test_odometry)
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#DBDriver.h
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add_executable(test_dbdriver test_dbdriver.cpp)
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target_link_libraries(test_dbdriver gtest_main rtabmap_core)
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gtest_discover_tests(test_dbdriver)
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add_test(NAME test_dbdriver COMMAND test_dbdriver)
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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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add_test(NAME test_signature COMMAND 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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add_test(NAME test_sensorevent COMMAND test_sensorevent)
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#SensorData.h
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add_executable(test_sensordata test_sensordata.cpp)
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target_link_libraries(test_sensordata gtest_main rtabmap_core)
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gtest_discover_tests(test_sensordata)
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add_test(NAME test_sensordata COMMAND test_sensordata)
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#SensorCapture.h
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add_executable(test_sensorcapture test_sensorcapture.cpp)
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target_link_libraries(test_sensorcapture gtest_main rtabmap_core)
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gtest_discover_tests(test_sensorcapture)
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add_test(NAME test_sensorcapture COMMAND test_sensorcapture)
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#SensorCaptureThread.h
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add_executable(test_sensorcapturethread test_sensorcapturethread.cpp)
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target_link_libraries(test_sensorcapturethread gtest_main rtabmap_core)
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gtest_discover_tests(test_sensorcapturethread)
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add_test(NAME test_sensorcapturethread COMMAND test_sensorcapturethread)
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@@ -451,8 +451,8 @@ TEST(Util3dFiltering, rangeFilteringFilteringRemovesOutOfRangePoints)
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LaserScan result = util3d::rangeFiltering(scan, 2.0f, 5.0f);
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ASSERT_EQ(result.size(), 1); // Only the (3,0) point should remain
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EXPECT_FLOAT_EQ(result.data().at<cv::Vec3f>(0)[0], 3.0f); // x
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EXPECT_FLOAT_EQ(result.data().at<cv::Vec3f>(0)[1], 0.0f); // y
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EXPECT_FLOAT_EQ(result.data().at<cv::Vec2f>(0)[0], 3.0f); // x
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EXPECT_FLOAT_EQ(result.data().at<cv::Vec2f>(0)[1], 0.0f); // y
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// 3D points: (1,0) [1m], (3,0) [3m], (6,0) [6m]
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data = (cv::Mat_<float>(1, 3*3) << 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 3.0f, 0.0f, 0.0f, 6.0f);
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@@ -697,9 +697,9 @@ TEST(Util3dFiltering, downsampleImplStepLargerThanCloudSize) {
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//LaserScan version
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{
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cv::Mat data(1, 10, CV_32FC3);
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cv::Mat data(1, 5, CV_32FC3, cv::Scalar(0));
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for (int i = 0; i < 5; ++i)
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data.at<cv::Vec3f>(i)[0] = float(i); // x
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data.at<cv::Vec3f>(0, i)[0] = float(i); // x
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auto scan = LaserScan(data, 0, 0, LaserScan::kXYZ);
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auto result = util3d::downsample(scan, 10);
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@@ -550,18 +550,18 @@ TEST(Util3dMotionEstimation, estimateMotion3DTo3DWithNoise) {
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for(auto & pt: words3A) {
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cv::Point3f ptT = util3d::transformPoint(pt.second, secondT);
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ptT.x += randomNoise(0.02);
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ptT.y += randomNoise(0.02);
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ptT.z += randomNoise(0.02);
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ptT.x += randomNoise(0.01);
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ptT.y += randomNoise(0.01);
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ptT.z += randomNoise(0.01);
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if(pt.second.z < 9) {
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words3B.insert(std::make_pair(pt.first, ptT));
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}
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else { // outlier
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words3B.insert(std::make_pair(pt.first, cv::Point3f(5,5,10)));
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}
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pt.second.x += randomNoise(0.02);
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pt.second.y += randomNoise(0.02);
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pt.second.z += randomNoise(0.02);
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pt.second.x += randomNoise(0.01);
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pt.second.y += randomNoise(0.01);
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pt.second.z += randomNoise(0.01);
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}
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cv::Mat covariance;
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@@ -53,7 +53,8 @@ TEST(Util3dSurface, computeNormalsComplexityVaryingNormals3D)
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#endif
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complexity = util3d::computeNormalsComplexity(cloudB);
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EXPECT_NEAR(complexity, 0.25f, 1e-3);
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// Smallest PCA eigenvalue is ~0 for discrete normals on orthogonal axes.
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EXPECT_NEAR(complexity, 0.0f, 1e-3);
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// Three perpendicular surfaces (one small)
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pcl::PointCloud<pcl::PointNormal> smallCloudB;
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@@ -64,8 +65,7 @@ TEST(Util3dSurface, computeNormalsComplexityVaryingNormals3D)
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#endif
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complexity = util3d::computeNormalsComplexity(smallCloudB);
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EXPECT_LT(complexity, 0.25f);
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EXPECT_GT(complexity, 0.01f);
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EXPECT_NEAR(complexity, 0.0f, 1e-3);
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}
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TEST(Util3dSurface, computeNormalsComplexityIdentityVsRotated)
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@@ -115,7 +115,7 @@ TEST(Util3dSurface, computeNormalsComplexityVaryingNormals2D)
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#endif
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// Two perpendicular surfaces
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complexity = util3d::computeNormalsComplexity(cloud, Transform(), true);
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EXPECT_NEAR(complexity, 0.25f, 1e-3);
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EXPECT_NEAR(complexity, 0.0f, 1e-3);
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pcl::PointCloud<pcl::PointNormal> cloudB;
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#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
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@@ -125,8 +125,7 @@ TEST(Util3dSurface, computeNormalsComplexityVaryingNormals2D)
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#endif
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// Two perpendicular surfaces (one small)
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complexity = util3d::computeNormalsComplexity(cloudB, Transform(), true);
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EXPECT_LT(complexity, 0.25f);
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EXPECT_GT(complexity, 0.01f);
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EXPECT_NEAR(complexity, 0.0f, 1e-3);
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pcl::PointCloud<pcl::PointNormal> corridorLikeCloud;
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#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
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@@ -7,6 +7,7 @@
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#include "rtabmap/utilite/UFile.h"
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#include <vector>
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#include <list>
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#include <set>
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#include <iterator>
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#include <fstream>
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#include <cstdio>
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@@ -769,15 +770,20 @@ TEST_F(VWDictionaryTest, SetLastWordId)
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TEST_F(VWDictionaryTest, DeleteUnusedWords)
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{
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// Add words
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cv::Mat descriptors(3, 32, CV_32F);
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cv::randu(descriptors, cv::Scalar(0), cv::Scalar(1));
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// Add words (orthogonal descriptors so each gets its own visual word)
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cv::Mat descriptors(3, 32, CV_32F, cv::Scalar(0));
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for(int i = 0; i < 3; ++i)
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{
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descriptors.at<float>(i, i) = 1.0f;
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}
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std::list<int> wordIds = dict->addNewWords(descriptors, 1);
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ASSERT_EQ(wordIds.size(), 3u);
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std::set<int> uniqueWordIds(wordIds.begin(), wordIds.end());
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ASSERT_EQ(uniqueWordIds.size(), 3u);
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// Remove references to make words unused
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for(int id : wordIds) {
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for(int id : uniqueWordIds) {
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dict->removeAllWordRef(id, 1);
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}
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