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refactor: generic hesai unit tests (#80)
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* Refactor test case for Pandar40P

* Complete Hesai test refactoring into generic implementation

The sensor-specific duplicates of the ..._test_main and ..._test files
have been refactored into a single generic implementation that takes
only the sensor parameters as input.

The ReadBag function has been refactored such that it takes a callback
function which is called on every point cloud scan.
This allows for easy and concise implementation of new test cases.

* Fix syntax error

---------

Co-authored-by: Maximilian Schmeller <[email protected]>
Co-authored-by: Abraham Monrroy Cano <[email protected]>
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@mojomex @amc-nu
3 people authored Oct 17, 2023
1 parent 74cdda4 commit 6ceea8d
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Showing 23 changed files with 309 additions and 2,839 deletions.
5 changes: 3 additions & 2 deletions .cspell.json
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@
"gprmc",
"Hesai",
"memcpy",
"mkdoxy",
"nohup",
"nproc",
"pandar",
Expand All @@ -19,6 +20,7 @@
"PANDARXT",
"Pdelay",
"QT",
"rclcpp",
"schedutil",
"STD_COUT",
"stds",
Expand All @@ -28,7 +30,6 @@
"vccint",
"Vccint",
"XT",
"XTM",
"mkdoxy"
"XTM"
]
}
142 changes: 9 additions & 133 deletions nebula_tests/hesai/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,146 +1,22 @@
# Pandar AT128
ament_auto_add_library(hesai_ros_decoder_test_at128 SHARED
hesai_ros_decoder_test_at128.cpp
ament_auto_add_library(hesai_ros_decoder_test SHARED
hesai_ros_decoder_test.cpp
)
target_link_libraries(hesai_ros_decoder_test_at128 ${PCL_LIBRARIES} ${NEBULA_TEST_LIBRARIES})
target_link_libraries(hesai_ros_decoder_test ${PCL_LIBRARIES} ${NEBULA_TEST_LIBRARIES})

ament_add_gtest(hesai_ros_decoder_test_main_at128
hesai_ros_decoder_test_main_at128.cpp
ament_add_gtest(hesai_ros_decoder_test_main
hesai_ros_decoder_test_main.cpp
)

ament_target_dependencies(hesai_ros_decoder_test_main_at128
ament_target_dependencies(hesai_ros_decoder_test_main
${NEBULA_TEST_DEPENDENCIES}
)

target_include_directories(hesai_ros_decoder_test_main_at128 PUBLIC
target_include_directories(hesai_ros_decoder_test_main PUBLIC
${PROJECT_SOURCE_DIR}/src/hesai
include
)

target_link_libraries(hesai_ros_decoder_test_main_at128
target_link_libraries(hesai_ros_decoder_test_main
${PCL_LIBRARIES}
hesai_ros_decoder_test_at128
)

# Pandar XT32M
ament_auto_add_library(hesai_ros_decoder_test_xt32m SHARED
hesai_ros_decoder_test_xt32m.cpp
)
target_link_libraries(hesai_ros_decoder_test_xt32m ${PCL_LIBRARIES} ${NEBULA_TEST_LIBRARIES})

ament_add_gtest(hesai_ros_decoder_test_main_xt32m
hesai_ros_decoder_test_main_xt32m.cpp
)

ament_target_dependencies(hesai_ros_decoder_test_main_xt32m
${NEBULA_TEST_DEPENDENCIES}
)

target_include_directories(hesai_ros_decoder_test_main_xt32m PUBLIC
${PROJECT_SOURCE_DIR}/src/hesai
include
)

target_link_libraries(hesai_ros_decoder_test_main_xt32m
${PCL_LIBRARIES}
hesai_ros_decoder_test_xt32m
)

# Pandar 40P
ament_auto_add_library(hesai_ros_decoder_test_40p SHARED
hesai_ros_decoder_test_40p.cpp
)

target_link_libraries(hesai_ros_decoder_test_40p ${PCL_LIBRARIES} ${NEBULA_TEST_LIBRARIES})

ament_add_gtest(hesai_ros_decoder_test_main_40p
hesai_ros_decoder_test_main_40p.cpp
)

ament_target_dependencies(hesai_ros_decoder_test_main_40p
${NEBULA_TEST_DEPENDENCIES}
)

target_include_directories(hesai_ros_decoder_test_main_40p PUBLIC
${PROJECT_SOURCE_DIR}/src/hesai
include
)

target_link_libraries(hesai_ros_decoder_test_main_40p
${PCL_LIBRARIES}
hesai_ros_decoder_test_40p
)

# Pandar 64
ament_auto_add_library(hesai_ros_decoder_test_64 SHARED
hesai_ros_decoder_test_64.cpp
)

target_link_libraries(hesai_ros_decoder_test_64 ${PCL_LIBRARIES} ${NEBULA_TEST_LIBRARIES})

ament_add_gtest(hesai_ros_decoder_test_main_64
hesai_ros_decoder_test_main_64.cpp
)

ament_target_dependencies(hesai_ros_decoder_test_main_64
${NEBULA_TEST_DEPENDENCIES}
)

target_include_directories(hesai_ros_decoder_test_main_64 PUBLIC
${PROJECT_SOURCE_DIR}/src/hesai
include
)

target_link_libraries(hesai_ros_decoder_test_main_64
${PCL_LIBRARIES}
hesai_ros_decoder_test_64
)

# Pandar QT64
ament_auto_add_library(hesai_ros_decoder_test_qt64 SHARED
hesai_ros_decoder_test_qt64.cpp
)

target_link_libraries(hesai_ros_decoder_test_qt64 ${PCL_LIBRARIES} ${NEBULA_TEST_LIBRARIES})

ament_add_gtest(hesai_ros_decoder_test_main_qt64
hesai_ros_decoder_test_main_qt64.cpp
)

ament_target_dependencies(hesai_ros_decoder_test_main_qt64
${NEBULA_TEST_DEPENDENCIES}
)
target_include_directories(hesai_ros_decoder_test_main_qt64 PUBLIC
${PROJECT_SOURCE_DIR}/src/hesai
include
)

target_link_libraries(hesai_ros_decoder_test_main_qt64
${PCL_LIBRARIES}
hesai_ros_decoder_test_qt64
)

# Pandar XT32
ament_auto_add_library(hesai_ros_decoder_test_xt32 SHARED
hesai_ros_decoder_test_xt32.cpp
)

target_link_libraries(hesai_ros_decoder_test_xt32 ${PCL_LIBRARIES} ${NEBULA_TEST_LIBRARIES})

ament_add_gtest(hesai_ros_decoder_test_main_xt32
hesai_ros_decoder_test_main_xt32.cpp
)

ament_target_dependencies(hesai_ros_decoder_test_main_xt32
${NEBULA_TEST_DEPENDENCIES}
)

target_include_directories(hesai_ros_decoder_test_main_xt32 PUBLIC
${PROJECT_SOURCE_DIR}/src/hesai
include
)

target_link_libraries(hesai_ros_decoder_test_main_xt32
${PCL_LIBRARIES}
hesai_ros_decoder_test_xt32
hesai_ros_decoder_test
)
32 changes: 31 additions & 1 deletion nebula_tests/hesai/hesai_common.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
#include "nebula_common/hesai/hesai_common.hpp"
#include "nebula_common/nebula_common.hpp"
#include "nebula_common/nebula_status.hpp"
#include "nebula_decoders/nebula_decoders_hesai/decoders/hesai_scan_decoder.hpp"
#include "nebula_decoders/nebula_decoders_hesai/hesai_driver.hpp"
#include "nebula_ros/common/nebula_driver_ros_wrapper_base.hpp"

Expand All @@ -14,10 +15,13 @@
#include "pandar_msgs/msg/pandar_scan.hpp"

#include <gtest/gtest.h>
#include <time.h>

#include <algorithm>

namespace nebula
{
namespace ros
namespace test
{

void checkPCDs(nebula::drivers::NebulaPointCloudPtr pc, pcl::PointCloud<pcl::PointXYZ>::Ptr pc_ref)
Expand All @@ -39,5 +43,31 @@ void checkPCDs(nebula::drivers::NebulaPointCloudPtr pc, pcl::PointCloud<pcl::Poi
}
}

void checkPCDs(nebula::drivers::NebulaPointCloudPtr pp1, nebula::drivers::NebulaPointCloudPtr pp2)
{
EXPECT_EQ(pp1->points.size(), pp2->points.size());
for (uint32_t i = 0; i < pp1->points.size(); i++) {
auto p1 = pp1->points[i];
auto p2 = pp2->points[i];
EXPECT_FLOAT_EQ(p1.x, p2.x);
EXPECT_FLOAT_EQ(p1.y, p2.y);
EXPECT_FLOAT_EQ(p1.z, p2.z);
EXPECT_FLOAT_EQ(p1.intensity, p2.intensity);
EXPECT_EQ(p1.channel, p2.channel);
EXPECT_FLOAT_EQ(p1.azimuth, p2.azimuth);
EXPECT_EQ(p1.return_type, p2.return_type);
EXPECT_DOUBLE_EQ(p1.time_stamp, p2.time_stamp);
}
}

void printPCD(nebula::drivers::NebulaPointCloudPtr pp)
{
for (auto p : pp->points) {
std::cout << "(" << p.x << ", " << p.y << "," << p.z << "): " << p.intensity << ", "
<< p.channel << ", " << p.azimuth << ", " << p.return_type << ", " << p.time_stamp
<< std::endl;
}
}

} // namespace ros
} // namespace nebula
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