feat(pointpainting_fusion): add test for painting util (#7169)

* add: unit test for inside bbox func

Signed-off-by: tzhong518 <sworgun@gmail.com>

* style(pre-commit): autofix

* fix: correct param name

Signed-off-by: tzhong518 <sworgun@gmail.com>

* add: comment

Signed-off-by: tzhong518 <sworgun@gmail.com>

---------

Signed-off-by: tzhong518 <sworgun@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

perception/image_projection_based_fusion/CMakeLists.txt

@@ -172,6 +172,13 @@ if(BUILD_TESTING)
   ament_auto_add_gtest(test_geometry
     test/test_geometry.cpp
   )
+  # test needed cuda, tensorRT and cudnn
+  if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL)
+    ament_auto_add_gtest(test_pointpainting
+      test/test_pointpainting_fusion.cpp
+    )
+  endif()
+
 endif()
 
 ament_auto_package(INSTALL_TO_SHARE

perception/image_projection_based_fusion/include/image_projection_based_fusion/pointpainting_fusion/node.hpp

@@ -33,6 +33,14 @@ namespace image_projection_based_fusion
 {
 using Label = autoware_perception_msgs::msg::ObjectClassification;
 
+inline bool isInsideBbox(
+  float proj_x, float proj_y, sensor_msgs::msg::RegionOfInterest roi, float zc)
+{
+  // z_c is scaling to normalize projection point
+  return proj_x >= roi.x_offset * zc && proj_x <= (roi.x_offset + roi.width) * zc &&
+         proj_y >= roi.y_offset * zc && proj_y <= (roi.y_offset + roi.height) * zc;
+}
+
 class PointPaintingFusionNode
 : public FusionNode<sensor_msgs::msg::PointCloud2, DetectedObjects, DetectedObjectsWithFeature>
 {

perception/image_projection_based_fusion/src/pointpainting_fusion/node.cpp

@@ -45,13 +45,6 @@ Eigen::Affine3f _transformToEigen(const geometry_msgs::msg::Transform & t)
 namespace image_projection_based_fusion
 {
 
-inline bool isInsideBbox(
-  float proj_x, float proj_y, sensor_msgs::msg::RegionOfInterest roi, float zc)
-{
-  return proj_x >= roi.x_offset * zc && proj_x <= (roi.x_offset + roi.width) * zc &&
-         proj_y >= roi.y_offset * zc && proj_y <= (roi.y_offset + roi.height) * zc;
-}
-
 inline bool isVehicle(int label2d)
 {
   return label2d == autoware_perception_msgs::msg::ObjectClassification::CAR ||

perception/image_projection_based_fusion/test/test_pointpainting_fusion.cpp

@@ -0,0 +1,56 @@
+// Copyright 2024 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 <image_projection_based_fusion/pointpainting_fusion/node.hpp>
+
+#include <gtest/gtest.h>
+
+sensor_msgs::msg::RegionOfInterest createRoi(
+  const int32_t x_offset, const int32_t y_offset, const int32_t width, const int32_t height)
+{
+  sensor_msgs::msg::RegionOfInterest roi;
+  roi.x_offset = x_offset;
+  roi.y_offset = y_offset;
+  roi.width = width;
+  roi.height = height;
+  return roi;
+}
+
+TEST(isInsideBboxTest, Inside)
+{
+  const sensor_msgs::msg::RegionOfInterest roi = createRoi(20, 20, 10, 10);
+  bool result = image_projection_based_fusion::isInsideBbox(25.0, 25.0, roi, 1.0);
+  EXPECT_TRUE(result);
+}
+
+TEST(isInsideBboxTest, Border)
+{
+  const sensor_msgs::msg::RegionOfInterest roi = createRoi(20, 20, 10, 10);
+  bool result = image_projection_based_fusion::isInsideBbox(20.0, 30.0, roi, 1.0);
+  EXPECT_TRUE(result);
+}
+
+TEST(isInsideBboxTest, Outside)
+{
+  const sensor_msgs::msg::RegionOfInterest roi = createRoi(20, 20, 10, 10);
+  bool result = image_projection_based_fusion::isInsideBbox(15.0, 15.0, roi, 1.0);
+  EXPECT_FALSE(result);
+}
+
+TEST(isInsideBboxTest, Zero)
+{
+  const sensor_msgs::msg::RegionOfInterest roi = createRoi(0, 0, 0, 0);
+  bool result = image_projection_based_fusion::isInsideBbox(0.0, 0.0, roi, 1.0);
+  EXPECT_TRUE(result);
+}