feat(radar_tracks_noise_filter): add unit test (autowarefoundation#6113)

* feat/test_radar_tracks_noise_filter

Signed-off-by: N-Eiki <[email protected]>

* change file name

Signed-off-by: N-Eiki <[email protected]>

---------

Signed-off-by: N-Eiki <[email protected]>
Co-authored-by: Satoshi Tanaka <[email protected]>

sensing/radar_tracks_noise_filter/CMakeLists.txt

@@ -28,9 +28,16 @@ rclcpp_components_register_node(radar_tracks_noise_filter_node_component
 
 # Tests
 if(BUILD_TESTING)
+  find_package(ament_cmake_ros REQUIRED)
   list(APPEND AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
+  file(GLOB_RECURSE test_files test/**/*.cpp)
+  ament_add_ros_isolated_gtest(radar_tracks_noise_filter ${test_files})
+
+  target_link_libraries(radar_tracks_noise_filter
+    radar_tracks_noise_filter_node_component
+  )
 endif()
 
 # Package

sensing/radar_tracks_noise_filter/include/radar_tracks_noise_filter/radar_tracks_noise_filter_node.hpp

@@ -57,6 +57,7 @@ class RadarTrackCrossingNoiseFilterNode : public rclcpp::Node
   // Parameter
   NodeParam node_param_{};
 
+public:
   // Core
   bool isNoise(const RadarTrack & radar_track);
 };

sensing/radar_tracks_noise_filter/test/radar_tracks_noise_filter/test_radar_tracks_noise_filter_is_noise.cpp

@@ -0,0 +1,95 @@
+// Copyright 2023 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "radar_tracks_noise_filter/radar_tracks_noise_filter_node.hpp"
+
+#include <radar_msgs/msg/radar_scan.hpp>
+
+#include <gtest/gtest.h>
+
+std::shared_ptr<radar_tracks_noise_filter::RadarTrackCrossingNoiseFilterNode> get_node(
+  float velocity_y_threshold)
+{
+  rclcpp::NodeOptions node_options;
+  node_options.parameter_overrides({
+    {"node_params.is_amplitude_filter", true},
+    {"velocity_y_threshold", velocity_y_threshold},
+  });
+
+  auto node =
+    std::make_shared<radar_tracks_noise_filter::RadarTrackCrossingNoiseFilterNode>(node_options);
+  return node;
+}
+
+radar_msgs::msg::RadarTrack getRadarTrack(float velocity_x, float velocity_y)
+{
+  radar_msgs::msg::RadarTrack radar_track;
+  geometry_msgs::msg::Vector3 vector_msg;
+  vector_msg.x = velocity_x;
+  vector_msg.y = velocity_y;
+  vector_msg.z = 0.0;
+  radar_track.velocity = vector_msg;
+  return radar_track;
+}
+
+TEST(RadarTracksNoiseFilter, isNoise)
+{
+  using radar_msgs::msg::RadarTrack;
+  using radar_tracks_noise_filter::RadarTrackCrossingNoiseFilterNode;
+  rclcpp::init(0, nullptr);
+  {
+    float velocity_node_threshold = 0.0;
+    float y_velocity = 0.0;
+    float x_velocity = 10.0;
+    std::shared_ptr<RadarTrackCrossingNoiseFilterNode> node = get_node(velocity_node_threshold);
+    RadarTrack radar_track = getRadarTrack(x_velocity, y_velocity);
+    EXPECT_TRUE(node->isNoise(radar_track));
+  }
+
+  {
+    float velocity_node_threshold = -1.0;
+    float y_velocity = 3.0;
+    float x_velocity = 10.0;
+    std::shared_ptr<RadarTrackCrossingNoiseFilterNode> node = get_node(velocity_node_threshold);
+    RadarTrack radar_track = getRadarTrack(x_velocity, y_velocity);
+    EXPECT_TRUE(node->isNoise(radar_track));
+  }
+
+  {
+    float velocity_node_threshold = -1.0;
+    float y_velocity = 3.0;
+    float x_velocity = 100.0;
+    std::shared_ptr<RadarTrackCrossingNoiseFilterNode> node = get_node(velocity_node_threshold);
+    RadarTrack radar_track = getRadarTrack(x_velocity, y_velocity);
+    EXPECT_TRUE(node->isNoise(radar_track));
+  }
+
+  {
+    float velocity_node_threshold = 3.0;
+    float y_velocity = 1.0;
+    float x_velocity = 10.0;
+    std::shared_ptr<RadarTrackCrossingNoiseFilterNode> node = get_node(velocity_node_threshold);
+    RadarTrack radar_track = getRadarTrack(x_velocity, y_velocity);
+    EXPECT_FALSE(node->isNoise(radar_track));
+  }
+
+  {
+    float velocity_node_threshold = 3.0;
+    float y_velocity = 1.0;
+    float x_velocity = -10.0;
+    std::shared_ptr<RadarTrackCrossingNoiseFilterNode> node = get_node(velocity_node_threshold);
+    RadarTrack radar_track = getRadarTrack(x_velocity, y_velocity);
+    EXPECT_FALSE(node->isNoise(radar_track));
+  }
+}

sensing/radar_tracks_noise_filter/test/test_radar_tracks_noise_filter.cpp

@@ -0,0 +1,26 @@
+// Copyright 2023 TierIV
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <gtest/gtest.h>
+
+int main(int argc, char * argv[])
+{
+  testing::InitGoogleTest(&argc, argv);
+  rclcpp::init(argc, argv);
+  bool result = RUN_ALL_TESTS();
+  rclcpp::shutdown();
+  return result;
+}