feature/test_object_sanitizer

ros/src/computing/perception/detection/object_filter/packages/roi_object_filter/CMakeLists.txt

@@ -45,6 +45,11 @@ catkin_package(
         tf
 )
 
+include_directories(
+        include
+        ${catkin_INCLUDE_DIRS}
+)
+
 #lib
 add_library(roi_object_filter_lib SHARED
         src/roi_object_filter.cpp
@@ -98,3 +103,9 @@ install(TARGETS roi_object_filter
 install(DIRECTORY launch/
         DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
         PATTERN ".svn" EXCLUDE)
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+  add_rostest_gtest(test-roi_object_filter test/test_roi_object_filter.test test/src/test_roi_object_filter.cpp)
+  target_link_libraries(test-roi_object_filter ${catkin_LIBRARIES} roi_object_filter_lib)
+endif()

ros/src/computing/perception/detection/object_filter/packages/roi_object_filter/include/roi_object_filter/roi_object_filter.h

@@ -69,6 +69,7 @@
 
 class RosRoiObjectFilterApp
 {
+	friend class TestClass;
     ros::NodeHandle node_handle_;
 
     ros::Subscriber detections_range_subscriber_, wayarea_gridmap_subscriber_;
@@ -114,7 +115,6 @@ class RosRoiObjectFilterApp
     tf::StampedTransform FindTransform(const std::string& in_target_frame, const std::string& in_source_frame);
     geometry_msgs::Point TransformPoint(const geometry_msgs::Point& in_point, const tf::Transform& in_tf);
 
-
 public:
     void Run();
 

ros/src/computing/perception/detection/object_filter/packages/roi_object_filter/src/roi_object_filter.cpp

@@ -278,4 +278,4 @@ RosRoiObjectFilterApp::RosRoiObjectFilterApp()
     gridmap_ready_ = false;
     detections_ready_ = false;
     processing_ = false;
-}
+}

ros/src/computing/perception/detection/object_filter/packages/roi_object_filter/test/src/test_roi_object_filter.cpp

@@ -0,0 +1,68 @@
+#include <ros/ros.h>
+#include <gtest/gtest.h>
+
+#include "roi_object_filter/roi_object_filter.h"
+
+class TestSuite: public ::testing::Test {
+public:
+	TestSuite(){}
+	~TestSuite(){}
+};
+
+class TestClass{
+public:
+	TestClass(){};
+
+	RosRoiObjectFilterApp app;
+
+	geometry_msgs::Point TransformPoint(const geometry_msgs::Point& in_point, const tf::Transform& in_tf);
+	bool CheckPointInGrid(const grid_map::GridMap& in_grid_map, const cv::Mat& in_grid_image,
+	                                            const geometry_msgs::Point& in_point);
+};
+
+geometry_msgs::Point TestClass::TransformPoint(const geometry_msgs::Point& in_point, const tf::Transform& in_tf)
+{
+	return app.TransformPoint(in_point, in_tf);
+}
+
+bool TestClass::CheckPointInGrid(const grid_map::GridMap& in_grid_map, const cv::Mat& in_grid_image,
+                                            const geometry_msgs::Point& in_point)
+{
+	return app.CheckPointInGrid(in_grid_map, in_grid_image, in_point);
+}
+
+
+TEST(TestSuite, CheckTransformPoint){
+
+	TestClass testObj;
+
+	// Check translation of 1 along X axis
+	tf::Quaternion q(0,0,0,1);
+	tf::Vector3 v(1,0,0);
+	geometry_msgs::Point inPt, outPt, expectedPt;
+
+	inPt.x = 0;
+	inPt.y = 0;
+	inPt.z = 0;
+	expectedPt.x = 1;
+	expectedPt.y = 0;
+	expectedPt.z = 0;
+
+	tf::Transform translation(q, v);
+
+	outPt = testObj.TransformPoint(inPt, translation);
+
+	ASSERT_EQ(outPt.x, expectedPt.x) << "X Coordinate should be " << expectedPt.x;
+	ASSERT_EQ(outPt.y, expectedPt.y) << "Y Coordinate should be " << expectedPt.y;
+	ASSERT_EQ(outPt.z, expectedPt.z) << "Z Coordinate should be " << expectedPt.z;
+
+}
+
+
+
+int main(int argc, char **argv) {
+	testing::InitGoogleTest(&argc, argv);
+	ros::init(argc, argv, "TestNode");
+	return RUN_ALL_TESTS();
+}
+

ros/src/computing/perception/detection/object_filter/packages/roi_object_filter/test/test_roi_object_filter.test

@@ -0,0 +1,5 @@
+<launch>
+
+  <test test-name="test-roi_object_filter" pkg="roi_object_filter" type="test-roi_object_filter" name="test"/>
+
+</launch>