From 56da624fd1ec4e1c292dbb5f1bd82040f503eadf Mon Sep 17 00:00:00 2001 From: petingo Date: Thu, 31 Oct 2024 18:33:18 +0100 Subject: [PATCH] WIP: update dry run test to include TTool-pose and disable test in TSLAM --- CMakeLists.txt | 5 +- tests/assets/log_gt.txt | 3206 +++++++++++------------------- tests/smoke_tests/dryRunTests.cc | 75 +- 3 files changed, 1252 insertions(+), 2034 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 73b12412..f285071e 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -71,7 +71,10 @@ endif() set(OpenGL_GL_PREFERENCE LEGACY) # <-- temp fix: or GLVIND? find_package(OpenGL REQUIRED) +set(CMAKE_POLICY_DEFAULT_CMP0077 NEW) set(BUILD_V4_API ON) +set(TSLAM_BUILD_TESTS OFF) +set(TSLAM_BUILD_UTILS OFF) add_external_package(TSlam IGNORE_SYSTEM) add_external_package(TTool IGNORE_SYSTEM) @@ -124,4 +127,4 @@ if(HEADLESS_TEST) # copy data to build directory file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/assets DESTINATION ${CMAKE_BINARY_DIR}) include(tests) -endif() \ No newline at end of file +endif() diff --git a/tests/assets/log_gt.txt b/tests/assets/log_gt.txt index fa0aa268..560b8f20 100644 --- a/tests/assets/log_gt.txt +++ b/tests/assets/log_gt.txt @@ -1,5 +1,5 @@ [Header] -Created Time: 1726018825079 +Created Time: 1730391435520 AC Info Model path: assets/ACModel/test.acim Scanned Model path: assets/ACModel/28_scanned_model.ply TTool Zenodo Version: @@ -34,2021 +34,1193 @@ ACIM-component-status Hole#8 NotDone ACIM-component-status Hole#9 NotDone ACIM-transform -2.2011 2.17516 14.5908 0.455768 -0.540625 0.704556 0.060003 TTool-head chain_swordsaw_blade_200 -TTool-pose None 0 0 0 -0.662636 0.0766484 -0.04113 0.74387 +TTool-pose None 0 0 0 0.223713 -0.120462 -0.933952 0.251257 [Content] -#0 1726018826706 -SLAM -0.491177 0.299633 -0.228448 0.00986977 0.0171685 0.0034613 0.999798 -TTool-pose None 0.480873 -0.298265 0.251043 -0.668872 0.0657494 -0.0558294 0.738354 -#1 1726018826731 -SLAM -0.340541 0.306973 -0.0925233 0.00950881 0.0119816 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21.7417 -0.207118 0.867813 0.413978 0.138548 -TTool-pose None 4.65511 -6.36287 25.2553 0.131548 -0.354572 -0.878112 0.290783 -#549 1726018840060 -SLAM -1.06615 -15.1486 21.4614 -0.205444 0.863539 0.415311 0.154454 -TTool-pose None 4.99693 -6.24421 25.0234 0.119821 -0.349764 -0.877765 0.301166 -#550 1726018840083 -SLAM -1.42499 -15.1843 21.2609 -0.202299 0.863726 0.416624 0.167024 -TTool-pose None 5.2715 -6.14663 24.862 0.108839 -0.347378 -0.878035 0.308155 -#551 1726018840104 -SLAM -1.73262 -15.2494 21.0189 -0.199225 0.863172 0.41961 0.178484 -TTool-pose None 5.52791 -6.07749 24.6809 0.098685 -0.343523 -0.878959 0.314228 -#552 1726018840125 -SLAM -1.97103 -15.2983 20.848 -0.195701 0.863182 0.422012 0.186826 -TTool-pose None 5.71918 -6.04251 24.5548 0.0902627 -0.340786 -0.879961 0.317771 -#553 1726018840146 -SLAM -2.1582 -15.3628 20.6973 -0.191972 0.862306 0.424863 0.193568 -TTool-pose None 5.88273 -6.04436 24.4474 0.0829195 -0.337556 -0.881275 0.319992 -#554 1726018840168 -SLAM 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1726018840306 -SLAM -2.70046 -15.7869 19.632 -0.187389 0.848803 0.438105 0.228756 -TTool-pose None 6.76114 -5.70299 23.7417 0.0563101 -0.315874 -0.883422 0.341379 -#561 1726018840331 -SLAM -2.68729 -15.8131 19.6026 -0.187407 0.848652 0.438359 0.228979 -TTool-pose None 6.76698 -5.67345 23.7391 0.0561855 -0.315562 -0.8835 0.341533 -#562 1726018840354 -SLAM -2.67001 -15.8517 19.5623 -0.187262 0.848216 0.439399 0.228801 -TTool-pose None 6.76064 -5.67281 23.7316 0.0562557 -0.314563 -0.88398 0.341227 -#563 1726018840377 -SLAM -2.68038 -15.8626 19.5594 -0.186662 0.848652 0.439081 0.22835 -TTool-pose None 6.72824 -5.65537 23.7512 0.0561008 -0.315154 -0.884053 0.340541 -#564 1726018840399 -SLAM -2.68581 -15.8905 19.5339 -0.186271 0.84827 0.440024 0.228281 -TTool-pose None 6.71856 -5.67531 23.7473 0.0559127 -0.314267 -0.884526 0.340162 -#565 1726018840422 -SLAM -2.71511 -15.8648 19.5878 -0.185837 0.849386 0.438064 0.228237 -TTool-pose None 6.70322 -5.63522 23.7912 0.0555142 -0.316417 -0.88384 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+#712 1730391448266 +#713 1730391448283 +#714 1730391448300 +#715 1730391448316 +#716 1730391448332 +#717 1730391448353 +#718 1730391448371 +#719 1730391448389 +#720 1730391448409 +#721 1730391448432 +#722 1730391448449 +#723 1730391448469 +#724 1730391448488 +#725 1730391448508 +#726 1730391448527 +#727 1730391448545 +#728 1730391448563 diff --git a/tests/smoke_tests/dryRunTests.cc b/tests/smoke_tests/dryRunTests.cc index 870d953d..ad061539 100644 --- a/tests/smoke_tests/dryRunTests.cc +++ b/tests/smoke_tests/dryRunTests.cc @@ -6,10 +6,10 @@ #include #include -class SLAMInfo { +class PoseInfo { public: - SLAMInfo() = default; - SLAMInfo(const bool isTracked, const std::array &data) { + PoseInfo() = default; + PoseInfo(const bool isTracked, const std::array &data) { // copy data to member m_IsTracked = isTracked; m_Data = data; @@ -24,7 +24,7 @@ class SLAMInfo { } } - bool operator==(const SLAMInfo &other) const { + bool operator==(const PoseInfo &other) const { if (m_IsTracked != other.m_IsTracked) { return false; } @@ -38,30 +38,56 @@ class SLAMInfo { return true; } + bool operator!=(const PoseInfo &other) const { + return !(*this == other); + }; + private: bool m_IsTracked = false; std::array m_Data = {0}; }; + class FrameInfo { public: FrameInfo() = default; - FrameInfo(const int frameId, const SLAMInfo &slamInfo) { + FrameInfo(const int frameId, const PoseInfo &slamPoseInfo, const PoseInfo &ttoolPoseInfo) { m_FrameId = frameId; - m_SLAMInfo = slamInfo; + m_SLAMPoseInfo = slamPoseInfo; + m_TToolPoseInfo = ttoolPoseInfo; } - void SetSLAMInfo(const SLAMInfo &slamInfo) { - m_SLAMInfo = slamInfo; + void SetSLAMInfo(const PoseInfo &slamInfo) { + m_SLAMPoseInfo = slamInfo; + } + + void SetTToolInfo(const PoseInfo &ttoolInfo) { + m_TToolPoseInfo = ttoolInfo; } void print() { - std::cout << "FrameId: " << m_FrameId << " "; - m_SLAMInfo.print(); + std::cout << "FrameId: " << m_FrameId << std::endl; + std::cout << "SLAM Pose: "; + m_SLAMPoseInfo.print(); + + std::cout << "TTool Pose: "; + m_TToolPoseInfo.print(); } bool operator==(const FrameInfo &other) const { - return m_FrameId == other.m_FrameId && m_SLAMInfo == other.m_SLAMInfo; + if (m_FrameId != other.m_FrameId) { + return false; + } + + if (m_SLAMPoseInfo != other.m_SLAMPoseInfo) { + return false; + } + + if (m_TToolPoseInfo != other.m_TToolPoseInfo) { + return false; + } + + return true; } bool operator!=(const FrameInfo &other) const { @@ -70,7 +96,8 @@ class FrameInfo { private: int m_FrameId = 0; - SLAMInfo m_SLAMInfo; + PoseInfo m_SLAMPoseInfo; + PoseInfo m_TToolPoseInfo; }; std::unordered_map parseLog(const std::string& path) { @@ -104,7 +131,7 @@ std::unordered_map parseLog(const std::string& path) { int frameId; long long timestamp; FrameInfo frameInfo; - bool hasSLAMData = false; + bool hasSLAMData = false, hasTToolData = false; while (getline(f, s)) { if(s.front() == '#') { @@ -128,12 +155,27 @@ std::unordered_map parseLog(const std::string& path) { std::string tmp; ss >> tmp; - // Parse the SLAM data + // Parse the Pose data + std::array data{}; + for(int i = 0 ; i < 7 ; i++) { + ss >> data[i]; + } + frameInfo.SetSLAMInfo(PoseInfo(true, data)); + } + + else if (s.rfind("TTool-pose", 0) == 0) { + std::stringstream ss(s); + + // Consume the "TTool-pose" and "None"(status) string + std::string tmp; + ss >> tmp >> tmp; + + // Parse the Pose data std::array data{}; for(int i = 0 ; i < 7 ; i++) { ss >> data[i]; } - frameInfo.SetSLAMInfo(SLAMInfo(true, data)); + frameInfo.SetTToolInfo(PoseInfo(true, data)); } } @@ -163,7 +205,7 @@ TEST(SmokeTest, DryRun) { } double errorRate = static_cast(mismatchCount) / gtData.size(); - bool isErrorRateAcceptable = errorRate > 0.0f; + bool isErrorRateAcceptable = errorRate < 0.05f; std::cout << "----- Smoke Test Result -----" << std::endl; std::cout << "Total frame count: " << gtData.size() << std::endl; std::cout << "Missmatch frame count: " << mismatchCount << std::endl; @@ -174,6 +216,7 @@ TEST(SmokeTest, DryRun) { std::cout << "failed"; } std::cout << std::endl; + std::cout << "-----------------------------" << std::endl; EXPECT_TRUE(isErrorRateAcceptable); } \ No newline at end of file