-
Notifications
You must be signed in to change notification settings - Fork 1.2k
/
point_cloud_to_lcm_test.cc
278 lines (251 loc) · 9.53 KB
/
point_cloud_to_lcm_test.cc
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
#include "drake/perception/point_cloud_to_lcm.h"
#include <array>
#include <limits>
#include <gtest/gtest.h>
#include "drake/common/bit_cast.h"
#include "drake/common/test_utilities/limit_malloc.h"
#include "drake/lcmt_point_cloud.hpp"
#include "drake/perception/point_cloud.h"
using drake::Vector3;
using drake::internal::bit_cast;
using Eigen::Vector3f;
namespace drake {
namespace perception {
namespace {
constexpr float kInf = std::numeric_limits<float>::infinity();
std::vector<lcmt_point_cloud_field> MakeExpectedFields(int num_fields) {
DRAKE_DEMAND((num_fields == 3) || (num_fields == 4) || (num_fields == 7));
std::vector<lcmt_point_cloud_field> result;
result.resize(num_fields);
result.at(0).name = "x";
result.at(0).byte_offset = 0;
result.at(0).datatype = lcmt_point_cloud_field::FLOAT32;
result.at(0).count = 1;
result.at(1).name = "y";
result.at(1).byte_offset = 4;
result.at(1).datatype = lcmt_point_cloud_field::FLOAT32;
result.at(1).count = 1;
result.at(2).name = "z";
result.at(2).byte_offset = 8;
result.at(2).datatype = lcmt_point_cloud_field::FLOAT32;
result.at(2).count = 1;
if (num_fields > 3) {
result.at(3).name = "rgb";
result.at(3).byte_offset = 12;
result.at(3).datatype = lcmt_point_cloud_field::UINT32;
result.at(3).count = 1;
}
if (num_fields > 4) {
result.at(4).name = "normal_x";
result.at(4).byte_offset = 16;
result.at(4).datatype = lcmt_point_cloud_field::FLOAT32;
result.at(4).count = 1;
result.at(5).name = "normal_y";
result.at(5).byte_offset = 20;
result.at(5).datatype = lcmt_point_cloud_field::FLOAT32;
result.at(5).count = 1;
result.at(6).name = "normal_z";
result.at(6).byte_offset = 24;
result.at(6).datatype = lcmt_point_cloud_field::FLOAT32;
result.at(6).count = 1;
}
return result;
}
float PackRgb(uint8_t r, uint8_t g, uint8_t b) {
return bit_cast<float>(std::array<uint8_t, 4>{ r, g, b, 0 });
}
class PointCloudToLcmTest : public testing::Test {
protected:
lcmt_point_cloud Convert(
const PointCloud& cloud,
const double time = 1.0,
const std::string& frame_name = "world") {
const PointCloudToLcm dut(frame_name);
auto context = dut.CreateDefaultContext();
context->SetTime(time);
dut.get_input_port().FixValue(context.get(), Value<PointCloud>(cloud));
const lcmt_point_cloud output =
dut.get_output_port().Eval<lcmt_point_cloud>(*context);
return output;
}
// Checks that all fields of a and b match exactly, except for the filler.
// We check that any filler used is set to zero, but we don't check how much
// filler a vs b each use.
void CheckEqual(
const lcmt_point_cloud& a,
const lcmt_point_cloud& b) {
EXPECT_EQ(a.utime, b.utime);
EXPECT_EQ(a.frame_name, b.frame_name);
EXPECT_EQ(a.width, b.width);
EXPECT_EQ(a.height, b.height);
ASSERT_EQ(a.fields.size(), a.num_fields);
ASSERT_EQ(b.fields.size(), b.num_fields);
ASSERT_EQ(a.num_fields, b.num_fields);
for (int i = 0; i < a.num_fields; ++i) {
EXPECT_EQ(a.fields[i].name, b.fields[i].name);
EXPECT_EQ(a.fields[i].byte_offset, b.fields[i].byte_offset);
EXPECT_EQ(a.fields[i].datatype, b.fields[i].datatype);
EXPECT_EQ(a.fields[i].count, b.fields[i].count);
}
EXPECT_EQ(a.flags, b.flags);
EXPECT_EQ(a.point_step, b.point_step);
EXPECT_EQ(a.row_step, b.row_step);
EXPECT_EQ(a.data_size, b.data_size);
EXPECT_EQ(a.data, b.data);
EXPECT_EQ(a.filler_size, a.filler.size());
for (const auto& dummy : a.filler) {
EXPECT_EQ(dummy, 0);
}
EXPECT_EQ(b.filler_size, b.filler.size());
for (const auto& dummy : b.filler) {
EXPECT_EQ(dummy, 0);
}
}
};
// Check an empty XYZ-only cloud.
TEST_F(PointCloudToLcmTest, Empty) {
PointCloud cloud;
lcmt_point_cloud expected{};
expected.utime = 1'000'000;
expected.frame_name = "world";
expected.width = 0;
expected.height = 1;
constexpr int num_fields = 3;
expected.num_fields = num_fields;
expected.fields = MakeExpectedFields(num_fields);
expected.point_step = num_fields * sizeof(float);
expected.flags = lcmt_point_cloud::IS_STRICTLY_FINITE;
lcmt_point_cloud actual = Convert(cloud);
CheckEqual(actual, expected);
EXPECT_EQ(actual.getEncodedSize() % 16, 0);
}
// Check a small, XYZ-only cloud with only two finite points.
TEST_F(PointCloudToLcmTest, XyzOnly) {
PointCloud cloud(5);
cloud.mutable_xyz(0) = Vector3f(1.0f, 2.0f, 3.0f);
cloud.mutable_xyz(1) = Vector3f(NAN, 0.0f, 0.0f);
cloud.mutable_xyz(2) = Vector3f(0.0f, kInf, 0.0f);
cloud.mutable_xyz(3) = Vector3f(0.0f, 0.0f, kInf);
cloud.mutable_xyz(4) = Vector3f(4.0f, 5.0f, 6.0f);
constexpr int num_valid_points = 2;
lcmt_point_cloud expected{};
expected.utime = 1'000'000;
expected.frame_name = "world";
expected.width = num_valid_points;
expected.height = 1;
constexpr int num_fields = 3;
expected.num_fields = num_fields;
expected.fields = MakeExpectedFields(num_fields);
constexpr int point_step = num_fields * sizeof(float);
expected.point_step = point_step;
expected.row_step = point_step * num_valid_points;
expected.flags = lcmt_point_cloud::IS_STRICTLY_FINITE;
constexpr int data_size = point_step * num_valid_points;
expected.data_size = data_size;
const float data[6] = {
1.0f, 2.0f, 3.0f,
4.0f, 5.0f, 6.0f,
};
static_assert(sizeof(data) == data_size);
expected.data.resize(data_size);
std::memcpy(expected.data.data(), data, data_size);
lcmt_point_cloud actual = Convert(cloud);
CheckEqual(actual, expected);
EXPECT_EQ(actual.getEncodedSize() % 16, data_size % 16);
}
// Check a small, XYZ+RGB cloud with only two finite points.
TEST_F(PointCloudToLcmTest, XyzRgb) {
PointCloud cloud(3, pc_flags::kXYZs | pc_flags::kRGBs);
cloud.mutable_xyz(0) = Vector3f(1.0, 2.0, 3.0);
cloud.mutable_xyz(1) = Vector3f(NAN, 0.0, 0.0);
cloud.mutable_xyz(2) = Vector3f(4.0, 5.0, 6.0);
cloud.mutable_rgb(0) = Vector3<uint8_t>(0, 127, 255);
cloud.mutable_rgb(1) = Vector3<uint8_t>(0, 0, 0);
cloud.mutable_rgb(2) = Vector3<uint8_t>(1, 128, 255);
constexpr int num_valid_points = 2;
lcmt_point_cloud expected{};
expected.utime = 1'000'000;
expected.frame_name = "world";
expected.width = num_valid_points;
expected.height = 1;
constexpr int num_fields = 4;
expected.num_fields = num_fields;
expected.fields = MakeExpectedFields(num_fields);
constexpr int point_step = num_fields * sizeof(float);
expected.point_step = point_step;
expected.row_step = point_step * num_valid_points;
expected.flags = lcmt_point_cloud::IS_STRICTLY_FINITE;
constexpr int data_size = point_step * num_valid_points;
expected.data_size = data_size;
const float data[8] = {
1.0f, 2.0f, 3.0f, PackRgb(0, 127, 255),
4.0f, 5.0f, 6.0f, PackRgb(1, 128, 255),
};
static_assert(sizeof(data) == data_size);
expected.data.resize(data_size);
std::memcpy(expected.data.data(), data, data_size);
lcmt_point_cloud actual = Convert(cloud);
CheckEqual(actual, expected);
EXPECT_EQ(actual.getEncodedSize() % 16, data_size % 16);
}
// Check a small, XYZ+RGB+Normal cloud.
TEST_F(PointCloudToLcmTest, XyzRgbNormal) {
PointCloud cloud(2, pc_flags::kXYZs | pc_flags::kRGBs | pc_flags::kNormals);
cloud.mutable_xyz(0) = Vector3f(1.0, 2.0, 3.0);
cloud.mutable_xyz(1) = Vector3f(4.0, 5.0, 6.0);
cloud.mutable_rgb(0) = Vector3<uint8_t>(0, 127, 255);
cloud.mutable_rgb(1) = Vector3<uint8_t>(1, 128, 255);
cloud.mutable_normal(0) = Vector3f(1.0, 0.0, 0.0);
cloud.mutable_normal(1) = Vector3f(0.0, -1.0, 0.0);
constexpr int num_valid_points = 2;
lcmt_point_cloud expected{};
expected.utime = 1'500'000;
expected.frame_name = "frame";
expected.width = num_valid_points;
expected.height = 1;
constexpr int num_fields = 7;
expected.num_fields = num_fields;
expected.fields = MakeExpectedFields(num_fields);
constexpr int point_step = num_fields * 4;
expected.point_step = point_step;
expected.row_step = point_step * num_valid_points;
expected.flags = lcmt_point_cloud::IS_STRICTLY_FINITE;
constexpr int data_size = point_step * num_valid_points;
expected.data_size = data_size;
const float data[14] = {
1.0f, 2.0f, 3.0f, PackRgb(0, 127, 255), 1.0, 0.0, 0.0,
4.0f, 5.0f, 6.0f, PackRgb(1, 128, 255), 0.0, -1.0, 0.0,
};
static_assert(sizeof(data) == data_size);
expected.data.resize(data_size);
std::memcpy(expected.data.data(), data, data_size);
lcmt_point_cloud actual = Convert(cloud, 1.5, "frame");
CheckEqual(actual, expected);
EXPECT_EQ(actual.getEncodedSize() % 16, data_size % 16);
}
TEST_F(PointCloudToLcmTest, StorageReuse) {
PointCloud cloud(2, pc_flags::kXYZs | pc_flags::kRGBs | pc_flags::kNormals);
cloud.mutable_xyz(0) = Vector3f(1.0, 2.0, 3.0);
cloud.mutable_xyz(1) = Vector3f(4.0, 5.0, 6.0);
cloud.mutable_rgb(0) = Vector3<uint8_t>(0, 127, 255);
cloud.mutable_rgb(1) = Vector3<uint8_t>(1, 128, 255);
cloud.mutable_normal(0) = Vector3f(1.0, 0.0, 0.0);
cloud.mutable_normal(1) = Vector3f(0.0, -1.0, 0.0);
// Convert one cloud; this ends up resizing storage to be large enough.
const PointCloudToLcm dut;
auto context = dut.CreateDefaultContext();
context->SetTime(1.0);
auto& fixed_value = dut.get_input_port().FixValue(
context.get(), Value<PointCloud>(cloud));
dut.get_output_port().Eval<lcmt_point_cloud>(*context);
// Invalidate the output message and then recompute it, without making any
// additional allocations.
fixed_value.GetMutableData();
{
test::LimitMalloc guard;
dut.get_output_port().Eval<lcmt_point_cloud>(*context);
}
}
} // namespace
} // namespace perception
} // namespace drake