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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
94 lines
3.4 KiB
C++
94 lines
3.4 KiB
C++
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#include <gtest/gtest.h>
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#include <rtabmap/core/camera/CameraImages.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 <opencv2/core.hpp>
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#include <string>
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using namespace rtabmap;
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// ---------------------------------------------------------------------------
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// CameraImages over a real image directory. The tests above use a mock capture
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// to cover the SensorCapture base class (frame-rate throttling, local
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// transform, info filling); this drives the concrete directory-scanning
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// implementation over the 84 committed images in data/samples.
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// ---------------------------------------------------------------------------
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TEST(CameraImagesTest, ScansSampleDirectoryAndCapturesFrames)
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{
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const std::string path = std::string(RTABMAP_TEST_DATA_ROOT) + "/samples";
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CameraImages camera(path);
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ASSERT_TRUE(camera.init()) << "could not scan " << path;
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// data/samples ships no calibration, so the model stays unnamed and
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// getSerial() (which returns the model name) is empty -- the two must agree.
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EXPECT_FALSE(camera.isCalibrated());
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EXPECT_TRUE(camera.getSerial().empty());
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// Take a handful rather than all 84: enough to exercise the scan/decode
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// loop and the frame ordering without paying for the whole directory.
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Transform previousStamp;
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int frames = 0;
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double lastStamp = -1.0;
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for(int i = 0; i < 5; ++i)
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{
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SensorCaptureInfo info;
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SensorData data = camera.takeData(&info);
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if(data.imageRaw().empty() && data.imageCompressed().empty())
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{
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break;
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}
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++frames;
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EXPECT_GT(data.imageRaw().cols, 0);
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EXPECT_GT(data.imageRaw().rows, 0);
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EXPECT_GT(data.stamp(), lastStamp) << "stamps must increase across frames";
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lastStamp = data.stamp();
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}
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EXPECT_EQ(5, frames) << "expected 5 frames from a directory of 84 images";
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}
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// setStartIndex()/setMaxFrames() are how callers replay a slice of a
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// directory; without them the reader always starts at the first file.
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TEST(CameraImagesTest, HonoursStartIndexAndMaxFrames)
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{
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const std::string path = std::string(RTABMAP_TEST_DATA_ROOT) + "/samples";
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CameraImages fromStart(path);
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ASSERT_TRUE(fromStart.init());
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SensorData first = fromStart.takeData();
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ASSERT_FALSE(first.imageRaw().empty());
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CameraImages skipped(path);
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skipped.setStartIndex(10);
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skipped.setMaxFrames(2);
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ASSERT_TRUE(skipped.init());
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SensorData tenth = skipped.takeData();
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ASSERT_FALSE(tenth.imageRaw().empty()) << "start index 10 returned nothing";
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// Different file, so the decoded pixels should differ from frame 0.
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EXPECT_NE(0.0, cv::norm(first.imageRaw(), tenth.imageRaw(), cv::NORM_L1))
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<< "start index had no effect: same image as the first frame";
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EXPECT_FALSE(skipped.takeData().imageRaw().empty()) << "second of maxFrames=2 missing";
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EXPECT_TRUE(skipped.takeData().imageRaw().empty()) << "maxFrames=2 should stop after two frames";
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}
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// The default constructor takes no path; a caller uses setPath()/setStartIndex()
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// before init(). Covered separately because the path constructor above runs a
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// different initialiser list.
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TEST(CameraImagesTest, DefaultConstructedIsUnconfigured)
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{
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CameraImages camera;
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EXPECT_FALSE(camera.isCalibrated());
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EXPECT_TRUE(camera.getSerial().empty());
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// No directory yet, so scanning must fail rather than assert.
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EXPECT_FALSE(camera.init());
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camera.setPath(std::string(RTABMAP_TEST_DATA_ROOT) + "/samples");
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ASSERT_TRUE(camera.init()) << "init() failed after setPath()";
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EXPECT_FALSE(camera.takeData().imageRaw().empty());
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}
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