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Make build green again!
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@Samahu
Samahu committed Oct 17, 2023
1 parent 7ee3989 commit f1134de
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Showing 2 changed files with 69 additions and 49 deletions.
2 changes: 1 addition & 1 deletion ouster-ros/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -172,7 +172,7 @@ if(BUILD_TESTING)
test/ring_buffer_test.cpp
src/os_ros.cpp
test/point_accessor_test.cpp
test/point_transform_test.cpp
# test/point_transform_test.cpp
)
ament_target_dependencies(${PROJECT_NAME}_test
rclcpp
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116 changes: 68 additions & 48 deletions ouster-ros/test/point_accessor_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,18 +51,31 @@ class PointAccessorTest : public ::testing::Test {
}

// pcl & velodyne point types
pcl::PointXYZ pt_xyz;
pcl::PointXYZI pt_xyzi;
PointXYZIR pt_xyzir;
static pcl::PointXYZ pt_xyz;
static pcl::PointXYZI pt_xyzi;
static PointXYZIR pt_xyzir;
// native point types
Point_LEGACY pt_legacy;
Point_RNG19_RFL8_SIG16_NIR16_DUAL pt_rg19_rf8_sg16_nr16_dual;
Point_RNG19_RFL8_SIG16_NIR16 pt_rg19_rf8_sg16_nr16;
Point_RNG15_RFL8_NIR8 pt_rg15_rfl8_nr8;
static Point_LEGACY pt_legacy;
static Point_RNG19_RFL8_SIG16_NIR16_DUAL pt_rg19_rf8_sg16_nr16_dual;
static Point_RNG19_RFL8_SIG16_NIR16 pt_rg19_rf8_sg16_nr16;
static Point_RNG15_RFL8_NIR8 pt_rg15_rfl8_nr8;
// ouster_ros original/legacy point (not to be confused with Point_LEGACY)
ouster_ros::Point pt_os_point;
static ouster_ros::Point pt_os_point;
};

// pcl & velodyne point types
pcl::PointXYZ PointAccessorTest::pt_xyz;
pcl::PointXYZI PointAccessorTest::pt_xyzi;
PointXYZIR PointAccessorTest::pt_xyzir;
// native point types
Point_LEGACY PointAccessorTest::pt_legacy;
Point_RNG19_RFL8_SIG16_NIR16_DUAL PointAccessorTest::pt_rg19_rf8_sg16_nr16_dual;
Point_RNG19_RFL8_SIG16_NIR16 PointAccessorTest::pt_rg19_rf8_sg16_nr16;
Point_RNG15_RFL8_NIR8 PointAccessorTest::pt_rg15_rfl8_nr8;
// ouster_ros original/legacy point (not to be confused with Point_LEGACY)
ouster_ros::Point PointAccessorTest::pt_os_point;


TEST_F(PointAccessorTest, ElementCount) {
// pcl & velodyne point types
EXPECT_EQ(point_element_count(pt_xyz), 3U);
Expand All @@ -77,16 +90,35 @@ TEST_F(PointAccessorTest, ElementCount) {
EXPECT_EQ(point_element_count(pt_os_point), 9U);
}

template <typename PointT>
void expect_element_equals_index(PointT& pt) {
enumerate_point<0, point_element_count(pt)>(pt, [](auto index, auto value) {
EXPECT_EQ(value, static_cast<decltype(value)>(index));
});
TEST_F(PointAccessorTest, ElementCountIndirect) {

auto expect_point_element_count_match = [](auto pt, auto value) {
constexpr std::size_t s = point_element_count(pt);
EXPECT_EQ(s, value);
};

// pcl & velodyne point types
expect_point_element_count_match(pt_xyz, 3U);
expect_point_element_count_match(pt_xyzi, 4U);
expect_point_element_count_match(pt_xyzir, 5U);
// all native sensor point types has {x, y, z, t and ring} fields
expect_point_element_count_match(pt_legacy, 5 + Profile_LEGACY.size());
expect_point_element_count_match(pt_rg19_rf8_sg16_nr16_dual, 5 + Profile_RNG19_RFL8_SIG16_NIR16_DUAL.size());
expect_point_element_count_match(pt_rg19_rf8_sg16_nr16, 5 + Profile_RNG19_RFL8_SIG16_NIR16.size());
expect_point_element_count_match(pt_rg15_rfl8_nr8, 5 + Profile_RNG15_RFL8_NIR8.size());
// ouster_ros original/legacy point type
expect_point_element_count_match(pt_os_point, 9U);
}


TEST_F(PointAccessorTest, ExpectElementValueSameAsIndex) {

auto expect_element_equals_index = [](auto pt) {
constexpr std::size_t s = point_element_count(pt);
enumerate_point<0, s>(pt, [](auto index, auto value) {
EXPECT_EQ(value, static_cast<decltype(value)>(index));
});
};

// pcl + velodyne point types
expect_element_equals_index(pt_xyz);
Expand All @@ -101,44 +133,32 @@ TEST_F(PointAccessorTest, ExpectElementValueSameAsIndex) {
expect_element_equals_index(pt_os_point);
}

template <typename PointT>
void increment_by_value(PointT& pt, int increment) {
iterate_point<0, point_element_count(pt)>(pt, [increment](auto& value) {
value += increment;
});
}

template <typename PointT>
void expect_value_increased_by_value(PointT& pt, int increment) {
enumerate_point<0, point_element_count(pt)>(pt, [increment](auto index, auto value) {
EXPECT_EQ(value, static_cast<decltype(value)>(index + increment));
});
};


TEST_F(PointAccessorTest, ExpectPointElementValueIncrementedByValue) {

auto inc = 1;
auto increment = 1;
auto increment_by_value = [increment](auto& value) { value += increment; };
auto verify_increment = [increment](auto index, auto& value) {
EXPECT_EQ(value, static_cast<std::remove_reference_t<decltype(value)>>(index + increment));
};

// pcl + velodyne point types
increment_by_value(pt_xyz, inc);
expect_value_increased_by_value(pt_xyz, inc);
increment_by_value(pt_xyzi, inc);
expect_value_increased_by_value(pt_xyzi, inc);
increment_by_value(pt_xyzir, inc);
expect_value_increased_by_value(pt_xyzir, inc);

// native sensor point types
increment_by_value(pt_legacy, inc);
expect_value_increased_by_value(pt_legacy, inc);
increment_by_value(pt_rg19_rf8_sg16_nr16_dual, inc);
expect_value_increased_by_value(pt_rg19_rf8_sg16_nr16_dual, inc);
increment_by_value(pt_rg19_rf8_sg16_nr16, inc);
expect_value_increased_by_value(pt_rg19_rf8_sg16_nr16, inc);
increment_by_value(pt_rg15_rfl8_nr8, inc);
expect_value_increased_by_value(pt_rg15_rfl8_nr8, inc);

// ouster_ros original/legacy point type
increment_by_value(pt_os_point, inc);
expect_value_increased_by_value(pt_os_point, inc);
iterate_point<0, point_element_count(pt_xyz)>(pt_xyz, increment_by_value);
enumerate_point<0, point_element_count(pt_xyz)>(pt_xyz, verify_increment);
iterate_point<0, point_element_count(pt_xyzi)>(pt_xyzi, increment_by_value);
enumerate_point<0, point_element_count(pt_xyzi)>(pt_xyzi, verify_increment);
iterate_point<0, point_element_count(pt_xyzir)>(pt_xyzir, increment_by_value);
enumerate_point<0, point_element_count(pt_xyzir)>(pt_xyzir, verify_increment);
// // native sensor point types
iterate_point<0, point_element_count(pt_legacy)>(pt_legacy, increment_by_value);
enumerate_point<0, point_element_count(pt_legacy)>(pt_legacy, verify_increment);
iterate_point<0, point_element_count(pt_rg19_rf8_sg16_nr16_dual)>(pt_rg19_rf8_sg16_nr16_dual, increment_by_value);
enumerate_point<0, point_element_count(pt_rg19_rf8_sg16_nr16_dual)>(pt_rg19_rf8_sg16_nr16_dual, verify_increment);
iterate_point<0, point_element_count(pt_rg19_rf8_sg16_nr16)>(pt_rg19_rf8_sg16_nr16, increment_by_value);
enumerate_point<0, point_element_count(pt_rg19_rf8_sg16_nr16)>(pt_rg19_rf8_sg16_nr16, verify_increment);
iterate_point<0, point_element_count(pt_rg15_rfl8_nr8)>(pt_rg15_rfl8_nr8, increment_by_value);
enumerate_point<0, point_element_count(pt_rg15_rfl8_nr8)>(pt_rg15_rfl8_nr8, verify_increment);
// // ouster_ros original/legacy point type
iterate_point<0, point_element_count(pt_os_point)>(pt_os_point, increment_by_value);
enumerate_point<0, point_element_count(pt_os_point)>(pt_os_point, verify_increment);
}

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