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Enable point_transform_test again
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@Samahu
Samahu committed Oct 17, 2023
1 parent f1134de commit ea6d59e
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Showing 3 changed files with 53 additions and 41 deletions.
2 changes: 1 addition & 1 deletion ouster-ros/CMakeLists.txt
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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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22 changes: 11 additions & 11 deletions ouster-ros/src/point_meta_helpers.h
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Expand Up @@ -20,37 +20,37 @@
template<typename T> inline void unused_variable(const T&) {}

template <typename T>
constexpr inline std::size_t point_element_count(const T& point) {
inline constexpr std::size_t point_element_count(const T& point) {
return std::tuple_size<decltype(point.as_tuple())>::value;
}

template <>
constexpr inline std::size_t point_element_count<pcl::PointXYZ>(const pcl::PointXYZ&) { return 3U; }
inline constexpr std::size_t point_element_count<pcl::PointXYZ>(const pcl::PointXYZ&) { return 3U; }

template <>
constexpr inline std::size_t point_element_count<pcl::PointXYZI>(const pcl::PointXYZI&) { return 4U; }
inline constexpr std::size_t point_element_count<pcl::PointXYZI>(const pcl::PointXYZI&) { return 4U; }

// generic accessor that avoid having to type template before get
template <size_t I, typename T>
inline auto& point_element_get(T& point) { return point.template get<I>(); }
inline constexpr auto& point_element_get(T& point) { return point.template get<I>(); }

// pcl::PointXYZ compile time element accessors
template <>
inline auto& point_element_get<0, pcl::PointXYZ>(pcl::PointXYZ& point) { return point.x; }
inline constexpr auto& point_element_get<0, pcl::PointXYZ>(pcl::PointXYZ& point) { return point.x; }
template <>
inline auto& point_element_get<1, pcl::PointXYZ>(pcl::PointXYZ& point) { return point.y; }
inline constexpr auto& point_element_get<1, pcl::PointXYZ>(pcl::PointXYZ& point) { return point.y; }
template <>
inline auto& point_element_get<2, pcl::PointXYZ>(pcl::PointXYZ& point) { return point.z; }
inline constexpr auto& point_element_get<2, pcl::PointXYZ>(pcl::PointXYZ& point) { return point.z; }

// pcl::PointXYZI compile time element accessors
template <>
inline auto& point_element_get<0, pcl::PointXYZI>(pcl::PointXYZI& point) { return point.x; }
inline constexpr auto& point_element_get<0, pcl::PointXYZI>(pcl::PointXYZI& point) { return point.x; }
template <>
inline auto& point_element_get<1, pcl::PointXYZI>(pcl::PointXYZI& point) { return point.y; }
inline constexpr auto& point_element_get<1, pcl::PointXYZI>(pcl::PointXYZI& point) { return point.y; }
template <>
inline auto& point_element_get<2, pcl::PointXYZI>(pcl::PointXYZI& point) { return point.z; }
inline constexpr auto& point_element_get<2, pcl::PointXYZI>(pcl::PointXYZI& point) { return point.z; }
template <>
inline auto& point_element_get<3, pcl::PointXYZI>(pcl::PointXYZI& point) { return point.intensity; }
inline constexpr auto& point_element_get<3, pcl::PointXYZI>(pcl::PointXYZI& point) { return point.intensity; }

template <std::size_t Index, std::size_t N, typename PointT, typename UnaryOp>
constexpr void iterate_point(PointT& point, UnaryOp unary_op) {
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70 changes: 41 additions & 29 deletions ouster-ros/test/point_transform_test.cpp
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Expand Up @@ -12,46 +12,59 @@ using namespace ouster_ros;
using namespace std;

class PointTransformTest : public ::testing::Test {
template <typename PointT>
template <std::size_t pt_size, typename PointT>
void initialize_point_elements_with_randoms(PointT& pt) {
std::default_random_engine g;
std::uniform_real_distribution<double> d(0.0, 128.0);
iterate_point<0, point_element_count(pt)>(pt, [&g, &d](auto& value) {
iterate_point<0, pt_size>(pt, [&g, &d](auto& value) {
using value_type = std::remove_reference_t<decltype(value)>;
value = static_cast<value_type>(d(g));
});
};
}

protected:
void SetUp() override {
// pcl + velodyne point types
initialize_point_elements_with_randoms(pt_xyz);
initialize_point_elements_with_randoms(pt_xyzi);
initialize_point_elements_with_randoms(pt_xyzir);
initialize_point_elements_with_randoms<point_element_count(pt_xyz)>(pt_xyz);
initialize_point_elements_with_randoms<point_element_count(pt_xyzi)>(pt_xyzi);
initialize_point_elements_with_randoms<point_element_count(pt_xyzir)>(pt_xyzir);
// native sensor point types
initialize_point_elements_with_randoms(pt_legacy);
initialize_point_elements_with_randoms(pt_rg19_rf8_sg16_nr16_dual);
initialize_point_elements_with_randoms(pt_rg19_rf8_sg16_nr16);
initialize_point_elements_with_randoms(pt_rg15_rfl8_nr8);
initialize_point_elements_with_randoms<point_element_count(pt_legacy)>(pt_legacy);
initialize_point_elements_with_randoms<point_element_count(pt_rg19_rf8_sg16_nr16_dual)>(pt_rg19_rf8_sg16_nr16_dual);
initialize_point_elements_with_randoms<point_element_count(pt_rg19_rf8_sg16_nr16)>(pt_rg19_rf8_sg16_nr16);
initialize_point_elements_with_randoms<point_element_count(pt_rg15_rfl8_nr8)>(pt_rg15_rfl8_nr8);
// ouster_ros original/legacy point type
initialize_point_elements_with_randoms(pt_os_point);
initialize_point_elements_with_randoms<point_element_count(pt_os_point)>(pt_os_point);
}

void TearDown() override {}

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


template <typename PointT, typename PointU>
void expect_points_xyz_equal(PointT& point1, PointU& point2) {
EXPECT_EQ(point1.x, point2.x);
Expand Down Expand Up @@ -153,43 +166,42 @@ void verify_point_transform(PointTGT& tgt_pt, const PointSRC& src_pt) {
}

// lambda function to check that point elements other than xyz have been zeroed
template <typename PointT>
template <std::size_t pt_size, typename PointT>
void expect_point_fields_zeros(PointT& pt) {
// starting at 3 to skip xyz
iterate_point<3, point_element_count(pt)>(pt, [](auto value) {
iterate_point<3, pt_size>(pt, [](auto value) {
EXPECT_EQ(value, static_cast<decltype(value)>(0));
});
};

TEST_F(PointTransformTest, ExpectPointFieldZeroed) {
transform_point(pt_xyzi, pt_xyz);
expect_points_xyz_equal(pt_xyzi, pt_xyz);
expect_point_fields_zeros(
pt_xyzi); // equivalent to EXPECT_EQ(pt_xyzi.intensity, 0.0f);
expect_point_fields_zeros<point_element_count(pt_xyzi)>(pt_xyzi);

transform_point(pt_xyzir, pt_xyz);
expect_points_xyz_equal(pt_xyzir, pt_xyz);
expect_point_fields_zeros(pt_xyzir);
expect_point_fields_zeros<point_element_count(pt_xyzir)>(pt_xyzir);

transform_point(pt_legacy, pt_xyz);
expect_points_xyz_equal(pt_legacy, pt_xyz);
expect_point_fields_zeros(pt_legacy);
expect_point_fields_zeros<point_element_count(pt_legacy)>(pt_legacy);

transform_point(pt_rg19_rf8_sg16_nr16_dual, pt_xyz);
expect_points_xyz_equal(pt_rg19_rf8_sg16_nr16_dual, pt_xyz);
expect_point_fields_zeros(pt_rg19_rf8_sg16_nr16_dual);
expect_point_fields_zeros<point_element_count(pt_rg19_rf8_sg16_nr16_dual)>(pt_rg19_rf8_sg16_nr16_dual);

transform_point(pt_rg19_rf8_sg16_nr16, pt_xyz);
expect_points_xyz_equal(pt_rg19_rf8_sg16_nr16, pt_xyz);
expect_point_fields_zeros(pt_rg19_rf8_sg16_nr16);
expect_point_fields_zeros<point_element_count(pt_rg19_rf8_sg16_nr16)>(pt_rg19_rf8_sg16_nr16);

transform_point(pt_rg15_rfl8_nr8, pt_xyz);
expect_points_xyz_equal(pt_rg15_rfl8_nr8, pt_xyz);
expect_point_fields_zeros(pt_rg15_rfl8_nr8);
expect_point_fields_zeros<point_element_count(pt_rg15_rfl8_nr8)>(pt_rg15_rfl8_nr8);

transform_point(pt_os_point, pt_xyz);
expect_points_xyz_equal(pt_os_point, pt_xyz);
expect_point_fields_zeros(pt_os_point);
expect_point_fields_zeros<point_element_count(pt_os_point)>(pt_os_point);
}

TEST_F(PointTransformTest, TestTransformReduce_LEGACY) {
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