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feat(radar_crossing_noise_filter): add unit test (autowarefoundation#6257)
* update node Signed-off-by: N-Eiki <naganagaeichan@gmail.com> * add test Signed-off-by: N-Eiki <naganagaeichan@gmail.com> * style(pre-commit): autofix * update year Signed-off-by: N-Eiki <naganagaeichan@gmail.com> * use tier4_autoware_utils Signed-off-by: N-Eiki <naganagaeichan@gmail.com> * style(pre-commit): autofix --------- Signed-off-by: N-Eiki <naganagaeichan@gmail.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Satoshi Tanaka <16330533+scepter914@users.noreply.github.com>
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‎perception/radar_crossing_objects_noise_filter/CMakeLists.txt

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@@ -17,9 +17,17 @@ rclcpp_components_register_node(radar_crossing_objects_noise_filter_node_compone
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# Tests
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if(BUILD_TESTING)
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find_package(ament_cmake_ros REQUIRED)
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list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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file(GLOB_RECURSE test_files test/**/*.cpp)
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ament_add_ros_isolated_gtest(radar_crossing_objects_noise_filter ${test_files})
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target_link_libraries(radar_crossing_objects_noise_filter
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radar_crossing_objects_noise_filter_node_component
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)
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endif()
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# Package

‎perception/radar_crossing_objects_noise_filter/include/radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter_node.hpp

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@@ -58,6 +58,7 @@ class RadarCrossingObjectsNoiseFilterNode : public rclcpp::Node
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// Parameter
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NodeParam node_param_{};
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public:
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// Core
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bool isNoise(const DetectedObject & object);
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};

‎perception/radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_filter.cpp

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// Copyright 2024 TierIV
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <rclcpp/rclcpp.hpp>
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#include <gtest/gtest.h>
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int main(int argc, char * argv[])
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{
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testing::InitGoogleTest(&argc, argv);
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rclcpp::init(argc, argv);
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bool result = RUN_ALL_TESTS();
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rclcpp::shutdown();
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return result;
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}

‎perception/radar_crossing_objects_noise_filter/test/test_radar_crossing_objects_noise_filter/test_radar_crossing_objects_filter_is_noise.cpp

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// Copyright 2024 Tier IV, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "radar_crossing_objects_noise_filter/radar_crossing_objects_noise_filter_node.hpp"
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#include "tier4_autoware_utils/geometry/geometry.hpp"
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#include "tier4_autoware_utils/math/unit_conversion.hpp"
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#include <geometry_msgs/msg/point32.hpp>
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#include <gtest/gtest.h>
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std::shared_ptr<radar_crossing_objects_noise_filter::RadarCrossingObjectsNoiseFilterNode> get_node(
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double angle_threshold, double velocity_threshold)
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{
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rclcpp::NodeOptions node_options;
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node_options.parameter_overrides(
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{{"angle_threshold", angle_threshold}, {"velocity_threshold", velocity_threshold}});
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auto node =
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std::make_shared<radar_crossing_objects_noise_filter::RadarCrossingObjectsNoiseFilterNode>(
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node_options);
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return node;
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}
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autoware_auto_perception_msgs::msg::DetectedObject get_object(
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geometry_msgs::msg::Vector3 velocity, geometry_msgs::msg::Point position,
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geometry_msgs::msg::Quaternion orientation)
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{
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autoware_auto_perception_msgs::msg::DetectedObject object;
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object.kinematics.twist_with_covariance.twist.linear = velocity;
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object.kinematics.pose_with_covariance.pose.position = position;
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object.kinematics.pose_with_covariance.pose.orientation = orientation;
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return object;
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}
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TEST(RadarCrossingObjectsFilter, IsNoise)
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{
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rclcpp::init(0, nullptr);
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{
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auto velocity = tier4_autoware_utils::createVector3(40.0, 30.0, 0.0);
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auto position = tier4_autoware_utils::createPoint(1.0, 0.0, 0.0);
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auto orientation = tier4_autoware_utils::createQuaternion(1.0, 1.0, 1.0, 0.0);
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auto object = get_object(velocity, position, orientation);
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{
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double velocity_threshold = 40.0;
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double angle_threshold = 1.0472;
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auto node = get_node(angle_threshold, velocity_threshold);
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EXPECT_TRUE(node->isNoise(object));
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}
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{
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double velocity_threshold = 40.0;
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double angle_threshold = -1.0472;
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auto node = get_node(angle_threshold, velocity_threshold);
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EXPECT_TRUE(node->isNoise(object));
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}
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{
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double velocity_threshold = -40.0;
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double angle_threshold = 1.0472;
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auto node = get_node(angle_threshold, velocity_threshold);
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EXPECT_TRUE(node->isNoise(object));
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}
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{
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double velocity_threshold = -40.0;
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double angle_threshold = -1.0472;
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auto node = get_node(angle_threshold, velocity_threshold);
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EXPECT_TRUE(node->isNoise(object));
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}
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}
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{
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auto velocity = tier4_autoware_utils::createVector3(40.0, 30.0, 0.0);
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auto position = tier4_autoware_utils::createPoint(1.0, 2.0, 0.0);
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auto orientation = tier4_autoware_utils::createQuaternion(1.0, 1.0, 1.0, 0.0);
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auto object = get_object(velocity, position, orientation);
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{
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double velocity_threshold = 40.0;
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double angle_threshold = 1.0472;
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auto node = get_node(angle_threshold, velocity_threshold);
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EXPECT_FALSE(node->isNoise(object));
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}
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{
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double velocity_threshold = 40.0;
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double angle_threshold = -1.0472;
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auto node = get_node(angle_threshold, velocity_threshold);
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EXPECT_FALSE(node->isNoise(object));
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}
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{
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double velocity_threshold = -40.0;
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double angle_threshold = 1.0472;
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auto node = get_node(angle_threshold, velocity_threshold);
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EXPECT_FALSE(node->isNoise(object));
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}
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{
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double velocity_threshold = -40.0;
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double angle_threshold = -1.0472;
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auto node = get_node(angle_threshold, velocity_threshold);
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EXPECT_FALSE(node->isNoise(object));
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}
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}
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{
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auto velocity = tier4_autoware_utils::createVector3(24.0, 18.0, 0.0);
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auto position = tier4_autoware_utils::createPoint(1.0, 0.0, 0.0);
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auto orientation = tier4_autoware_utils::createQuaternion(1.0, 1.0, 1.0, 0.0);
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auto object = get_object(velocity, position, orientation);
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{
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double velocity_threshold = 40.0;
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double angle_threshold = 1.0472;
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auto node = get_node(angle_threshold, velocity_threshold);
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EXPECT_FALSE(node->isNoise(object));
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}
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{
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double velocity_threshold = 40.0;
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double angle_threshold = -1.0472;
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auto node = get_node(angle_threshold, velocity_threshold);
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EXPECT_FALSE(node->isNoise(object));
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}
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{
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double velocity_threshold = -40.0;
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double angle_threshold = 1.0472;
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auto node = get_node(angle_threshold, velocity_threshold);
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EXPECT_TRUE(node->isNoise(object));
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}
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{
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double velocity_threshold = -40.0;
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double angle_threshold = -1.0472;
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auto node = get_node(angle_threshold, velocity_threshold);
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EXPECT_TRUE(node->isNoise(object));
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}
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}
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{
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auto velocity = tier4_autoware_utils::createVector3(24.0, 18.0, 0.0);
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auto position = tier4_autoware_utils::createPoint(1.0, 2.0, 0.0);
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auto orientation = tier4_autoware_utils::createQuaternion(1.0, 1.0, 1.0, 0.0);
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auto object = get_object(velocity, position, orientation);
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{
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double velocity_threshold = 40.0;
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double angle_threshold = 1.0472;
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auto node = get_node(angle_threshold, velocity_threshold);
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EXPECT_FALSE(node->isNoise(object));
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}
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{
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double velocity_threshold = 40.0;
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double angle_threshold = -1.0472;
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auto node = get_node(angle_threshold, velocity_threshold);
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EXPECT_FALSE(node->isNoise(object));
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}
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{
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double velocity_threshold = -40.0;
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double angle_threshold = 1.0472;
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auto node = get_node(angle_threshold, velocity_threshold);
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EXPECT_FALSE(node->isNoise(object));
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}
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{
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double velocity_threshold = -40.0;
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double angle_threshold = -1.0472;
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auto node = get_node(angle_threshold, velocity_threshold);
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EXPECT_FALSE(node->isNoise(object));
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}
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}
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}

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