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chore(image_projection_based_fusion): add unit test for utils (#7091)
Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
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‎perception/image_projection_based_fusion/CMakeLists.txt

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message("Skipping build of some nodes due to missing dependencies")
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endif()
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if(BUILD_TESTING)
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find_package(ament_cmake_gtest REQUIRED)
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ament_auto_add_gtest(test_utils
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test/test_utils.cpp
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)
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endif()
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ament_auto_package(INSTALL_TO_SHARE
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launch
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config

‎perception/image_projection_based_fusion/package.xml

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<depend>tier4_autoware_utils</depend>
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<depend>tier4_perception_msgs</depend>
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<test_depend>ament_cmake_gtest</test_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>autoware_lint_common</test_depend>
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‎perception/image_projection_based_fusion/test/test_utils.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 <autoware_point_types/types.hpp>
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#include <image_projection_based_fusion/utils/utils.hpp>
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#include <gtest/gtest.h>
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using autoware_point_types::PointXYZI;
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void setPointCloud2Fields(sensor_msgs::msg::PointCloud2 & pointcloud)
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{
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pointcloud.fields.resize(4);
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pointcloud.fields[0].name = "x";
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pointcloud.fields[1].name = "y";
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pointcloud.fields[2].name = "z";
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pointcloud.fields[3].name = "intensity";
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pointcloud.fields[0].offset = 0;
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pointcloud.fields[1].offset = 4;
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pointcloud.fields[2].offset = 8;
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pointcloud.fields[3].offset = 12;
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pointcloud.fields[0].datatype = sensor_msgs::msg::PointField::FLOAT32;
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pointcloud.fields[1].datatype = sensor_msgs::msg::PointField::FLOAT32;
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pointcloud.fields[2].datatype = sensor_msgs::msg::PointField::FLOAT32;
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pointcloud.fields[3].datatype = sensor_msgs::msg::PointField::FLOAT32;
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pointcloud.fields[0].count = 1;
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pointcloud.fields[1].count = 1;
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pointcloud.fields[2].count = 1;
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pointcloud.fields[3].count = 1;
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pointcloud.height = 1;
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pointcloud.point_step = 16;
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pointcloud.is_bigendian = false;
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pointcloud.is_dense = true;
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pointcloud.header.frame_id = "dummy_frame_id";
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pointcloud.header.stamp.sec = 0;
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pointcloud.header.stamp.nanosec = 0;
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}
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// Test case 1: Test case when the input pointcloud is empty
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TEST(UtilsTest, closest_cluster_empty_cluster_test_case1)
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{
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sensor_msgs::msg::PointCloud2 pointcloud;
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setPointCloud2Fields(pointcloud);
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pointcloud.data.resize(0);
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pointcloud.width = 0;
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pointcloud.row_step = 0;
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pcl::PointXYZ center;
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center.x = 0.0;
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center.y = 0.0;
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center.z = 0.0;
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// testing closest_cluster function
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double cluster_2d_tolerance = 0.5;
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int min_cluster_size = 3;
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sensor_msgs::msg::PointCloud2 output_cluster;
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image_projection_based_fusion::closest_cluster(
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pointcloud, cluster_2d_tolerance, min_cluster_size, center, output_cluster);
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EXPECT_EQ(output_cluster.data.size(), std::size_t(0));
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}
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// Test case 2: Test case when the input pointcloud as one cluster
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TEST(UtilsTest, closest_cluster_test_case2)
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{
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sensor_msgs::msg::PointCloud2 pointcloud;
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setPointCloud2Fields(pointcloud);
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std::vector<float> dummy_x = {0.0, 0.1, 0.2};
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pointcloud.data.resize(dummy_x.size() * pointcloud.point_step);
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size_t global_offset = 0;
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for (auto x : dummy_x) {
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PointXYZI point;
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point.x = x;
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point.y = 0.0;
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point.z = 0.0;
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point.intensity = 0.0;
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memcpy(&pointcloud.data[global_offset], &point, pointcloud.point_step);
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global_offset += pointcloud.point_step;
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}
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pcl::PointXYZ center;
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center.x = 0.0;
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center.y = 0.0;
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center.z = 0.0;
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// testing closest_cluster function
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double cluster_2d_tolerance = 0.5;
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int min_cluster_size = 3;
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sensor_msgs::msg::PointCloud2 output_cluster;
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image_projection_based_fusion::closest_cluster(
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pointcloud, cluster_2d_tolerance, min_cluster_size, center, output_cluster);
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EXPECT_EQ(output_cluster.data.size(), dummy_x.size() * pointcloud.point_step);
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}
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// Test case 3: Test case when the input pointcloud as two clusters
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TEST(UtilsTest, closest_cluster_test_case3)
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{
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sensor_msgs::msg::PointCloud2 pointcloud;
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setPointCloud2Fields(pointcloud);
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std::vector<float> dummy_x = {0.0, 0.1, 0.2, 1.0, 1.1, 1.2, 1.21, 1.22};
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pointcloud.data.resize(dummy_x.size() * pointcloud.point_step);
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size_t global_offset = 0;
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for (auto x : dummy_x) {
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PointXYZI point;
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point.x = x;
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point.y = 0.0;
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point.z = 0.0;
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point.intensity = 0.0;
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memcpy(&pointcloud.data[global_offset], &point, pointcloud.point_step);
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global_offset += pointcloud.point_step;
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}
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pcl::PointXYZ center;
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center.x = 0.0;
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center.y = 0.0;
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center.z = 0.0;
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// testing closest_cluster function
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double cluster_2d_tolerance = 0.5;
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int min_cluster_size = 3;
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sensor_msgs::msg::PointCloud2 output_cluster;
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image_projection_based_fusion::closest_cluster(
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pointcloud, cluster_2d_tolerance, min_cluster_size, center, output_cluster);
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EXPECT_EQ(output_cluster.data.size(), 3 * pointcloud.point_step);
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}
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// Test case 4: Test case when the input pointcloud as two clusters
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TEST(UtilsTest, closest_cluster_test_case4)
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{
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sensor_msgs::msg::PointCloud2 pointcloud;
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setPointCloud2Fields(pointcloud);
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std::vector<float> dummy_x = {0.0, 0.1, 1.0, 1.01, 1.1, 1.2, 1.21, 1.22};
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pointcloud.data.resize(dummy_x.size() * pointcloud.point_step);
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size_t global_offset = 0;
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for (auto x : dummy_x) {
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PointXYZI point;
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point.x = x;
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point.y = 0.0;
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point.z = 0.0;
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point.intensity = 0.0;
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memcpy(&pointcloud.data[global_offset], &point, pointcloud.point_step);
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global_offset += pointcloud.point_step;
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}
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pcl::PointXYZ center;
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center.x = 0.0;
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center.y = 0.0;
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center.z = 0.0;
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// testing closest_cluster function
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double cluster_2d_tolerance = 0.5;
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int min_cluster_size = 3;
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sensor_msgs::msg::PointCloud2 output_cluster;
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image_projection_based_fusion::closest_cluster(
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pointcloud, cluster_2d_tolerance, min_cluster_size, center, output_cluster);
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EXPECT_EQ(output_cluster.data.size(), 6 * pointcloud.point_step);
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}
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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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return RUN_ALL_TESTS();
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}

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