perception_integration_tests.cpp File Reference

#include <gtest/gtest.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_cloud.h>
#include <pcl_conversions/pcl_conversions.h>
#include <custom_interfaces/msg/cone_array.hpp>
#include <custom_interfaces/msg/perception_output.hpp>
#include <filesystem>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include "perception/perception_node.hpp"

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Classes
class	PerceptionIntegrationTest
	Test class for blackbox perception integration tests. More...

Functions
bool	loadGroundTruth (const std::string &file_path, std::vector< std::tuple< float, float, bool, bool > > &ground_truth)
	Helper function to load ground truth cone positions from a file.
double	computeCorrectness (const custom_interfaces::msg::ConeArray::SharedPtr &detected, std::vector< std::tuple< float, float, bool, bool > > ground_truth, float tolerance=0.2)
	Helper function to compute correctness for a specific test case.
void	generateCylinder (pcl::PointCloud< pcl::PointXYZI >::Ptr cloud, float radius, float height, float centerX, float centerY, int numSlices, int numHeightSegments, float intensity)
	Generates a cylinder made of pcl points, used to add the found cones in the results pcl.
	TEST_F (PerceptionIntegrationTest, StraightLine)
	Straight line test for perception node from rosbag: Accelaration_Testing_DV_1B.mcap.
	TEST_F (PerceptionIntegrationTest, AccelerationEndClose)
	Close to accelaration end test for perception node from rosbag: Accelaration_Testing_Manual-4.mcap.
	TEST_F (PerceptionIntegrationTest, AccelerationEndMedium)
	Medium distance to accelaration end test for perception node from rosbag: Accelaration_Testing_Manual-4.mcap.
	TEST_F (PerceptionIntegrationTest, AccelerationFar)
	Far distance to accelaration end test for perception node from rosbag: Accelaration_Testing_Manual-4.mcap.
	TEST_F (PerceptionIntegrationTest, EnterHairpin)
	Blind turn test for perception node from rosbag: Closed_Course_Manual-6.mcap.
	TEST_F (PerceptionIntegrationTest, TurnStart)
	Turn test for perception node from rosbag: Hard_Course-DV-5.mcap.
	TEST_F (PerceptionIntegrationTest, OddStituation)
	Odd situation test for perception node from rosbag: Hard_Course-DV-5.mcap.
	TEST_F (PerceptionIntegrationTest, DiagonalPath)
	A fully diagonal path test for perception node from rosbag: Autocross_DV-1.mcap.

Function Documentation

computeCorrectness()

double computeCorrectness	(	const custom_interfaces::msg::ConeArray::SharedPtr &	detected,
		std::vector< std::tuple< float, float, bool, bool > >	ground_truth,
		float	tolerance = 0.2
	)

Helper function to compute correctness for a specific test case.

Definition at line 35 of file perception_integration_tests.cpp.

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generateCylinder()

void generateCylinder	(	pcl::PointCloud< pcl::PointXYZI >::Ptr	cloud,
		float	radius,
		float	height,
		float	centerX,
		float	centerY,
		int	numSlices,
		int	numHeightSegments,
		float	intensity
	)

Generates a cylinder made of pcl points, used to add the found cones in the results pcl.

Definition at line 76 of file perception_integration_tests.cpp.

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loadGroundTruth()

bool loadGroundTruth	(	const std::string &	file_path,
		std::vector< std::tuple< float, float, bool, bool > > &	ground_truth
	)

Helper function to load ground truth cone positions from a file.

Definition at line 18 of file perception_integration_tests.cpp.

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TEST_F() [1/8]

TEST_F	(	PerceptionIntegrationTest	,
		AccelerationEndClose
	)

Close to accelaration end test for perception node from rosbag: Accelaration_Testing_Manual-4.mcap.

Definition at line 258 of file perception_integration_tests.cpp.

TEST_F() [2/8]

TEST_F	(	PerceptionIntegrationTest	,
		AccelerationEndMedium
	)

Medium distance to accelaration end test for perception node from rosbag: Accelaration_Testing_Manual-4.mcap.

Definition at line 266 of file perception_integration_tests.cpp.

TEST_F() [3/8]

TEST_F	(	PerceptionIntegrationTest	,
		AccelerationFar
	)

Far distance to accelaration end test for perception node from rosbag: Accelaration_Testing_Manual-4.mcap.

Definition at line 274 of file perception_integration_tests.cpp.

TEST_F() [4/8]

TEST_F	(	PerceptionIntegrationTest	,
		DiagonalPath
	)

A fully diagonal path test for perception node from rosbag: Autocross_DV-1.mcap.

Definition at line 296 of file perception_integration_tests.cpp.

TEST_F() [5/8]

TEST_F	(	PerceptionIntegrationTest	,
		EnterHairpin
	)

Blind turn test for perception node from rosbag: Closed_Course_Manual-6.mcap.

Definition at line 281 of file perception_integration_tests.cpp.

TEST_F() [6/8]

TEST_F	(	PerceptionIntegrationTest	,
		OddStituation
	)

Odd situation test for perception node from rosbag: Hard_Course-DV-5.mcap.

Definition at line 291 of file perception_integration_tests.cpp.

TEST_F() [7/8]

TEST_F	(	PerceptionIntegrationTest	,
		StraightLine
	)

Straight line test for perception node from rosbag: Accelaration_Testing_DV_1B.mcap.

Definition at line 252 of file perception_integration_tests.cpp.

TEST_F() [8/8]

TEST_F	(	PerceptionIntegrationTest	,
		TurnStart
	)

Turn test for perception node from rosbag: Hard_Course-DV-5.mcap.

Definition at line 286 of file perception_integration_tests.cpp.