mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-02 17:40:23 +08:00
338e142e58
* CI coverage: adding g2o, gtsam, ceres and libpointmatcher. Also fetch test data for integration tests. * ld * Increasing ci test timeout for coverage * Fixed tests when vertigo is not there * verbose tests * updating flaky test * faster coverage by extending unit tests and disable integration test (only for coverage report) * improving coverage of unit tests in comparison to integrations tests * fixing not covered new lines
166 lines
8.3 KiB
CMake
166 lines
8.3 KiB
CMake
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add_definitions("-DRTABMAP_TEST_DATA_ROOT=\"${TEST_DATA_ROOT}\"")
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# ---------------------------------------------------------------------------
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# One executable for the corelib unit tests, source files kept split.
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#
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# Every test binary that links rtabmap_core pulls in ~344 shared libraries
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# (PCL, VTK, OpenCV, Qt, g2o, GTSAM, Ceres, octomap, the camera SDKs...), and
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# each ctest entry is a separate process that pays that load cost again. The
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# load dominates: test_util3d_transforms does ~10 ms of actual work, yet it
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# reported 12.7 s on the macOS runners, where dyld has no shared cache for
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# non-system dylibs and validates each one's signature per process. Roughly
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# 590 s of a 2150 s macOS run was process startup.
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#
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# gtest registers tests through static initializers and gtest_main supplies
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# main(), so the sources combine into one target with no source changes.
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# ---------------------------------------------------------------------------
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set(corelib_test_sources
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test_util2d.cpp #util2d.h
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test_util3d.cpp #util3d.h
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test_util3d_transforms.cpp #util3d_transforms.h
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test_util3d_filtering.cpp #util3d_filtering.h
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test_util3d_registration.cpp #util3d_registration.h
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test_util3d_features.cpp #util3d_features.h
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test_util3d_correspondences.cpp #util3d_correspondences.h
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test_util3d_mapping.cpp #util3d_mapping.h
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test_util3d_motion_estimation.cpp #util3d_motion_estimation.h
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test_util3d_surface.cpp #util3d_surface.h
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test_visualword.cpp #VisualWord.h
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test_vwdictionary.cpp #VWDictionary.h
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test_transform.cpp #Transform.h
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test_stereo_dense.cpp #StereoDense.h (BM and SGBM strategies)
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test_stereo.cpp #Stereo.h (BlockMatching and OpticalFlow)
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test_cameramodel.cpp #CameraModel.h
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test_stereocameramodel.cpp #StereoCameraModel.h
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test_statistics.cpp #Statistics.h
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test_bayesfilter.cpp #BayesFilter.h
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test_memory.cpp #Memory.h
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test_markerdetector.cpp #MarkerDetector.h
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test_rtabmap.cpp #Rtabmap.h
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test_link.cpp #Link.h
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test_optimizer.cpp #Optimizer.h
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test_gps.cpp #GPS.h
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test_imu.cpp #IMU.h
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test_imufilter.cpp #IMUFilter.h
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test_imuthread.cpp #IMUThread.h
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test_landmark.cpp #Landmark.h
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test_localgrid.cpp #LocalGrid.h
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test_features2d.cpp #Features2d.h
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test_globalmap.cpp #GlobalMap.h
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test_registration.cpp #Registration.h
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test_registrationvis.cpp #RegistrationVis.h
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test_registrationicp.cpp #RegistrationIcp.h
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test_localgridmaker.cpp #LocalGridMaker.h
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test_graph.cpp #Graph.h
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test_geodeticcoords.cpp #GeodeticCoords.h
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test_compression.cpp #Compression.h
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test_odometry.cpp #Odometry.h
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test_dbdriver.cpp #DBDriver.h
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test_dbdriversqlite3.cpp #DBDriverSqlite3.h
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test_signature.cpp #Signature.h
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test_sensorevent.cpp #SensorEvent.h
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test_sensordata.cpp #SensorData.h
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test_sensorcapture.cpp #SensorCapture.h
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test_cameraimages.cpp #camera/CameraImages.h
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test_sensorcaptureinfo.cpp #SensorCaptureInfo.h
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test_sensorcapturethread.cpp #SensorCaptureThread.h
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)
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add_executable(test_corelib ${corelib_test_sources})
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target_link_libraries(test_corelib gtest_main rtabmap_core)
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# test_registrationicp.cpp includes corelib/src/icp/libpointmatcher.h directly
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# to test the LaserScan <-> DataPoints conversions, so it needs the library
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# itself (rtabmap_core links it PRIVATE and only re-exports its include dirs).
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IF(libpointmatcher_FOUND)
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target_link_libraries(test_corelib ${libpointmatcher_LIBRARIES})
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ENDIF(libpointmatcher_FOUND)
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# The timeouts below are sized for an optimized build; at -O0 (Debug, or
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# coverage, which forces -O0) these tests run 5-40x slower.
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IF(CMAKE_BUILD_TYPE MATCHES "^(Release|RelWithDebInfo|MinSizeRel)$")
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SET(_test_timeout_scale 1)
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ELSE()
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SET(_test_timeout_scale 6)
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ENDIF()
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# Split the run across processes so `ctest -j` still overlaps work, paying the
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# library load N times instead of once per source file. gtest partitions by
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# test index via these two env vars; the shards are disjoint and together
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# cover every test. TIMEOUT is set explicitly because a shard holds hundreds
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# of tests and the TIMEOUT property has to win over the CI jobs' `ctest
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# --timeout 300`, which was sized for one-test-per-process.
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set(CORELIB_TEST_SHARDS 4 CACHE STRING
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"Number of processes the corelib unit tests are split across")
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math(EXPR _corelib_last_shard "${CORELIB_TEST_SHARDS} - 1")
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math(EXPR _corelib_shard_timeout "900 * ${_test_timeout_scale}")
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foreach(shard RANGE 0 ${_corelib_last_shard})
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add_test(NAME test_corelib_${shard} COMMAND test_corelib)
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set_tests_properties(test_corelib_${shard} PROPERTIES
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TIMEOUT ${_corelib_shard_timeout}
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ENVIRONMENT "GTEST_TOTAL_SHARDS=${CORELIB_TEST_SHARDS};GTEST_SHARD_INDEX=${shard}")
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endforeach()
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# Rtabmap end-to-end replay of sample DBs (test data fetched by
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# scripts/fetch_test_data.sh into data/tests/*.db). Skips at runtime if the
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# assets are absent, so the build stays green for contributors without them.
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#
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# Deliberately its own executable rather than part of test_corelib: it is the
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# one long test (>20 min), it needs its own timeout and "long" label, and a
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# crash in it stays contained instead of taking a shard of unit tests with it.
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add_executable(test_rtabmap_integration test_rtabmap_integration.cpp)
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target_link_libraries(test_rtabmap_integration gtest_main rtabmap_core)
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# Labelled "long" so CI PR jobs can opt out via:
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# `ctest -LE long`
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# while nightlies run:
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# `ctest -L long`.
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add_test(NAME test_rtabmap_integration COMMAND test_rtabmap_integration)
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math(EXPR _integration_timeout "1800 * ${_test_timeout_scale}")
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set_tests_properties(test_rtabmap_integration PROPERTIES
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TIMEOUT ${_integration_timeout}
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LABELS "long")
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#PythonInterface / PyDetector / PyDescriptor / PyMatcher (optional Python
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# support; bridges to Python feature detectors (SuperPoint), global
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# descriptors (NetVLAD), and matchers (SuperGlue). Tests use numpy-only stub
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# scripts so no ML weights or extra packages are needed beyond what
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# WITH_PYTHON already pulls in.
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#
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# Kept out of test_corelib: these embed a Python interpreter, and
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# Py_Initialize/Py_Finalize in a process that also runs hundreds of unrelated
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# tests is a needless interaction. They also need their own link/include sets.
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IF(WITH_PYTHON AND Python3_FOUND)
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# Direct tests for PythonInterface / getPythonTraceback. Links pybind11
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# and Python headers so the test can drive the Python C API directly.
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add_executable(test_python_interface test_python_interface.cpp)
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target_link_libraries(test_python_interface gtest_main rtabmap_core pybind11::embed)
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target_include_directories(test_python_interface PRIVATE ${Python3_INCLUDE_DIRS})
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add_test(NAME test_python_interface COMMAND test_python_interface)
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add_executable(test_pydetector test_pydetector.cpp)
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target_link_libraries(test_pydetector gtest_main rtabmap_core)
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add_test(NAME test_pydetector COMMAND test_pydetector)
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add_executable(test_pydescriptor test_pydescriptor.cpp)
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target_link_libraries(test_pydescriptor gtest_main rtabmap_core)
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add_test(NAME test_pydescriptor COMMAND test_pydescriptor)
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# PyMatcher's header is internal (not in the public include tree);
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# expose corelib/src so the test can `#include "python/PyMatcher.h"`.
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add_executable(test_pymatcher test_pymatcher.cpp)
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target_link_libraries(test_pymatcher gtest_main rtabmap_core)
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target_include_directories(test_pymatcher PRIVATE
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${CMAKE_SOURCE_DIR}/corelib/src)
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add_test(NAME test_pymatcher COMMAND test_pymatcher)
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ENDIF(WITH_PYTHON AND Python3_FOUND)
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#LASWriter.h (optional libLAS -- own target for the extra link/include set)
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IF(libLAS_FOUND)
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add_executable(test_laswriter test_laswriter.cpp)
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target_link_libraries(test_laswriter gtest_main rtabmap_core ${libLAS_LIBRARIES})
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target_include_directories(test_laswriter PRIVATE ${libLAS_INCLUDE_DIRS})
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add_test(NAME test_laswriter COMMAND test_laswriter)
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ENDIF(libLAS_FOUND)
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