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Commit 40b2ae9

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Daniel Tobon
committed
added test concrete parses cases
1 parent 51efd51 commit 40b2ae9

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5 files changed

+104
-20
lines changed

5 files changed

+104
-20
lines changed

‎CMakeLists.txt‎

Lines changed: 29 additions & 20 deletions
Original file line numberDiff line numberDiff line change
@@ -1,11 +1,11 @@
1-
##############################################################################
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# #############################################################################
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# CMAKE CONFIGURATION
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##############################################################################
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# #############################################################################
44
cmake_minimum_required(VERSION 3.5.1 FATAL_ERROR)
55

66
# set project name
7-
project(pcl-visualizer VERSION 1.0.0
8-
DESCRIPTION "Point cloud visualizser with PCL"
7+
project(pcl-visualizer VERSION 1.0.0
8+
DESCRIPTION "Point cloud visualizser with PCL"
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)
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# set build type = Release mode
@@ -22,56 +22,59 @@ set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED True)
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fprofile-arcs -ftest-coverage")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fprofile-arcs -ftest-coverage")
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##############################################################################
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26+
# #############################################################################
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# PACKAGES DEPENDENCIES
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##############################################################################
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# #############################################################################
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message("${BoldYellow}***********************")
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message("${BoldYellow}PCL PACKAGE")
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message("${BoldYellow}***********************")
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3233
find_package(PCL 1.8 REQUIRED QUIET)
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3335
if(PCL_FOUND)
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message(STATUS "${BoldGreen}PCL status:")
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message(STATUS " version: ${PCL_VERSION}")
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message(STATUS " directory: ${PCL_DIR}")
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else()
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message(FATAL_ERROR "${BoldRed} ERROR: PCL minimum required version 1.8. Not found")
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message(FATAL_ERROR "${BoldRed} ERROR: PCL minimum required version 1.8. Not found")
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endif()
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4143
message("${BoldYellow}***********************")
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message("${BoldYellow}VTK PACKAGE")
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message("${BoldYellow}***********************")
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find_package(VTK 8.1 REQUIRED QUIET)
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4649
if(VTK_FOUND)
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message(STATUS "${BoldGreen}VTK status:")
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message(STATUS " version: ${VTK_VERSION}")
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message(STATUS " directory: ${VTK_DIR}")
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else()
51-
message(FATAL_ERROR "${BoldRed} ERROR: VTK minimum required version 8.1. Not found")
54+
message(FATAL_ERROR "${BoldRed} ERROR: VTK minimum required version 8.1. Not found")
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endif()
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5457
# Use the compile definitions defined in PCL
5558
add_definitions(${PCL_DEFINITIONS})
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57-
##############################################################################
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# #############################################################################
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# ADD LIBRARIES FOLDER
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##############################################################################
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# #############################################################################
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add_subdirectory(parser)
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62-
##############################################################################
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# #############################################################################
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# SOURCE CODE
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##############################################################################
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# #############################################################################
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set(MAIN_SOURCE "src/main.cpp")
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##############################################################################
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# #############################################################################
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# EXECUTABLES
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##############################################################################
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# #############################################################################
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add_executable(${PROJECT_NAME} ${MAIN_SOURCE})
7174

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##############################################################################
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# #############################################################################
7376
# TARGET LIBRARIES
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##############################################################################
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# #############################################################################
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target_include_directories(${PROJECT_NAME} PRIVATE ${PCL_INCLUDE_DIRS} ${VTK_INCLUDE_DIRS})
7679
target_include_directories(cloud_parser PRIVATE ${PCL_INCLUDE_DIRS} ${VTK_INCLUDE_DIRS})
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target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES} ${VTK_LIBRARIES} cloud_parser)
@@ -81,9 +84,9 @@ message("${BoldCyan}=========================================")
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message("${BoldCyan}Project: ${PROJECT_NAME} COMPILED WITH CMAKE " ${CMAKE_VERSION})
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message("${BoldCyan}=========================================")
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##############################################################################
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# #############################################################################
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# INSTALL DIRECTORY
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##############################################################################
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# #############################################################################
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install(TARGETS ${PROJECT_NAME}
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RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
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PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
@@ -97,10 +100,16 @@ if(BUILD_TESTING)
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enable_testing()
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add_subdirectory(external)
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add_subdirectory(tests)
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100104
if(CODE_COVERAGE)
101-
message("${BoldWhite} Coverage enabled ${ColourReset}")
105+
message("${BoldWhite} Coverage enabled ${ColourReset}")
102106
include("${CMAKE_CURRENT_LIST_DIR}/cmake/CodeCoverage.cmake")
103107
append_coverage_compiler_flags()
104-
setup_target_for_coverage_lcov(NAME coverage EXECUTABLE testlib BASE_DIRECTORY ../coverage)
108+
setup_target_for_coverage_lcov(NAME coverage EXECUTABLE ctest -j ${n_cores}
109+
BASE_DIRECTORY ../coverage
110+
DEPENDENCIES
111+
testlib
112+
testconcreteparses
113+
)
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endif()
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endif()

‎tests/CMakeLists.txt‎

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Original file line numberDiff line numberDiff line change
@@ -1,13 +1,19 @@
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# Tests need to be added as executables first
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add_executable(testlib test_parser.cpp)
3+
add_executable(testconcreteparses test_concrete_parses.cpp)
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45
# I'm using C++17 in the test
56
target_compile_features(testlib PRIVATE cxx_std_17)
7+
target_compile_features(testconcreteparses PRIVATE cxx_std_17)
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79
# Should be linked to the main library, as well as the Catch2 testing library
810
target_link_libraries(testlib PRIVATE Catch2 cloud_parser ${PCL_LIBRARIES} ${VTK_LIBRARIES})
11+
target_link_libraries(testconcreteparses PRIVATE Catch2 cloud_parser ${PCL_LIBRARIES} ${VTK_LIBRARIES})
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1013
# If you register a test, then ctest and make test will run it.
1114
# You can also run examples and check the output, as well.
1215
add_test(NAME testlibtest COMMAND testlib) # Command can be a target
16+
add_test(NAME testconcreteparses COMMAND testconcreteparses WORKING_DIRECTORY "${CMAKE_CURRENT_LIST_DIR}") # Command can be a target
1317

18+
# custom target to get more verbose level in test with: make check
19+
add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND} --verbose)

‎tests/cloudfiles/cloud.pcd‎

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Original file line numberDiff line numberDiff line change
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# .PCD v.7 - Point Cloud Data file format
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VERSION .7
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FIELDS x y z rgb
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SIZE 4 4 4 4
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TYPE F F F F
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COUNT 1 1 1 1
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WIDTH 5
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HEIGHT 1
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VIEWPOINT 0 0 0 1 0 0 0
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POINTS 5
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DATA ascii
12+
0.93773 0.33763 0 4.2108e+06
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0.90805 0.35641 0 4.2108e+06
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0.81915 0.32 0 4.2108e+06
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0.97192 0.278 0 4.2108e+06
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0.944 0.29474 0 4.2108e+06

‎tests/cloudfiles/cloud.ply‎

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ply
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format ascii 1.0
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comment created by platoply
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element vertex 5
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property float32 x
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property float32 y
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property float32 z
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element face 0
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property list uint8 int32 vertex_indices
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end_header
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-1 -1 -1
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1 -1 -1
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1 1 -1
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-1 1 -1
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-1 -1 1

‎tests/test_concrete_parses.cpp‎

Lines changed: 38 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,38 @@
1+
#define CATCH_CONFIG_MAIN
2+
#include <catch2/catch.hpp>
3+
#include <filesystem>
4+
#include <modern/concrete_parses.hpp>
5+
6+
TEST_CASE("Testing ParserPCD") {
7+
CloudParserLibrary::ParserPCD* parser = new CloudParserLibrary::ParserPCD();
8+
9+
std::filesystem::path filespath("cloudfiles");
10+
std::filesystem::path filename("cloud.pcd");
11+
std::filesystem::path TESTDATA_FILENAME = filespath / filename;
12+
13+
SECTION("Loading cloud pcd file with success") {
14+
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>());
15+
parser->load_cloudfile(TESTDATA_FILENAME, cloud);
16+
REQUIRE((int)cloud->points.size() == 5);
17+
}
18+
}
19+
20+
TEST_CASE("Testing ParserPLY") {
21+
CloudParserLibrary::ParserPLY* parser = new CloudParserLibrary::ParserPLY();
22+
23+
std::filesystem::path filespath("cloudfiles");
24+
std::filesystem::path filename("cloud.ply");
25+
std::filesystem::path TESTDATA_FILENAME = filespath / filename;
26+
27+
SECTION("Loading cloud ply file with success") {
28+
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>());
29+
parser->load_cloudfile(TESTDATA_FILENAME, cloud);
30+
REQUIRE((int)cloud->points.size() == 5);
31+
}
32+
33+
SECTION("Testing cloud_is_good function") {
34+
pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZRGB>());
35+
parser->load_cloudfile(TESTDATA_FILENAME, cloud);
36+
CHECK(parser->cloud_is_good(cloud));
37+
}
38+
}

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