Moved gpu octree tests to test/gpu. (#3965)

larshg · haritha-j · web-flow · commit 84f694372b50 · 2020-08-04T17:14:32.000+02:00
* Moved gpu octree tests to test/gpu.

* add .points and std:: after removal of previous PRs.

* exclude gpu octree tests from ctest

* add cmake option for excluding gpu tests

Co-authored-by: haritha-j &lt;haritha.16@cse.mrt.ac.lk&gt;
diff --git a/.ci/azure-pipelines/build/ubuntu.yaml b/.ci/azure-pipelines/build/ubuntu.yaml
@@ -8,6 +8,7 @@ steps:
       -DCMAKE_BUILD_TYPE="MinSizeRel" \
       -DCMAKE_CXX_FLAGS="$CMAKE_CXX_FLAGS" \
       -DPCL_ONLY_CORE_POINT_TYPES=ON \
+      -DPCL_DISABLE_GPU_TESTS=ON \
       -DBUILD_simulation=ON \
       -DBUILD_surface_on_nurbs=ON \
       -DBUILD_global_tests=ON \
diff --git a/cmake/pcl_options.cmake b/cmake/pcl_options.cmake
@@ -69,10 +69,15 @@ option(WITH_DOCS "Build doxygen documentation" OFF)
 set(PCL_INDEX_SIZE -1 CACHE STRING "Set index size. Available options are: 8 16 32 64. A negative value indicates default size (32 for PCL >= 1.12, 8*sizeof(int) i.e., the number of bits in int, otherwise)")
 set_property(CACHE PCL_INDEX_SIZE PROPERTY STRINGS -1 8 16 32 64)
 
-#set whether indices are signed or unsigned
+# Set whether indices are signed or unsigned
 set(PCL_INDEX_SIGNED true CACHE BOOL "Set whether indices need to be signed or unsigned. Signed by default.")
 if (PCL_INDEX_SIGNED)
   set(PCL_INDEX_SIGNED_STR "true")
 else()
   set (PCL_INDEX_SIGNED_STR "false")
 endif()
+
+# Set whether gpu tests should be run
+# (Used to prevent gpu tests from executing in CI where GPU hardware is unavailable)
+option(PCL_DISABLE_GPU_TESTS "Disable running GPU tests. If disabled, tests will still be built." OFF)
+
diff --git a/gpu/containers/src/device_memory.cpp b/gpu/containers/src/device_memory.cpp
@@ -37,7 +37,7 @@
 #include <pcl/gpu/containers/device_memory.h>
 #include <pcl/gpu/utils/safe_call.hpp>
 
-#include "cuda_runtime_api.h"
+#include <cuda_runtime_api.h>
 #include <cassert>
 
 #define HAVE_CUDA
diff --git a/gpu/octree/CMakeLists.txt b/gpu/octree/CMakeLists.txt
@@ -36,5 +36,3 @@ PCL_MAKE_PKGCONFIG(${LIB_NAME} COMPONENT ${SUBSYS_NAME} DESC ${SUBSYS_DESC} PCL_
 
 # Install include files
 PCL_ADD_INCLUDES("${SUBSYS_NAME}" "${SUBSYS_PATH}" ${incs})
-
-add_subdirectory(test)
diff --git a/gpu/octree/test/CMakeLists.txt b/gpu/octree/test/CMakeLists.txt
diff --git a/gpu/utils/include/pcl/gpu/utils/safe_call.hpp b/gpu/utils/include/pcl/gpu/utils/safe_call.hpp
@@ -37,7 +37,7 @@
 #ifndef __PCL_CUDA_SAFE_CALL_HPP__
 #define __PCL_CUDA_SAFE_CALL_HPP__
 
-#include "cuda_runtime_api.h"
+#include <cuda_runtime_api.h>
 #include <pcl/gpu/containers/initialization.h>
 
 #if defined(__GNUC__)
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
@@ -18,13 +18,18 @@ add_library(pcl_gtest STATIC ${GTEST_SRC_DIR}/src/gtest-all.cc)
 
 enable_testing()
 
+# VS needs -C config to run correct
 if(MSVC)
-  # VS needs -C config to run correct
-  add_custom_target(tests "${CMAKE_CTEST_COMMAND}" -C $<$<CONFIG:Debug>:Debug>$<$<CONFIG:Release>:Release> -V -T Test VERBATIM)
-else()
-  add_custom_target(tests "${CMAKE_CTEST_COMMAND}" -V -T Test VERBATIM)
+  set(PCL_CTEST_ARGUMENTS ${PCL_CTEST_ARGUMENTS} -C $<$<CONFIG:Debug>:Debug>$<$<CONFIG:Release>:Release>)
 endif()
 
+# Enables you to disable GPU tests. Used on CI as it has no access to GPU hardware
+if(PCL_DISABLE_GPU_TESTS)
+  set(PCL_CTEST_ARGUMENTS ${PCL_CTEST_ARGUMENTS} -E gpu)
+endif()
+
+add_custom_target(tests "${CMAKE_CTEST_COMMAND}" ${PCL_CTEST_ARGUMENTS} -V -T Test VERBATIM)
+
 set_target_properties(tests PROPERTIES FOLDER "Tests")
 
 include_directories("${CMAKE_CURRENT_SOURCE_DIR}/include")
@@ -34,6 +39,7 @@ add_subdirectory(common)
 add_subdirectory(features)
 add_subdirectory(filters)
 add_subdirectory(geometry)
+add_subdirectory(gpu)
 add_subdirectory(io)
 add_subdirectory(kdtree)
 add_subdirectory(keypoints)
diff --git a/test/gpu/CMakeLists.txt b/test/gpu/CMakeLists.txt
@@ -0,0 +1,5 @@
+if(NOT HAVE_CUDA)
+  return()
+endif()
+
+add_subdirectory(octree)
diff --git a/test/gpu/octree/CMakeLists.txt b/test/gpu/octree/CMakeLists.txt
@@ -0,0 +1,20 @@
+set(SUBSYS_NAME tests_gpu_octree)
+set(SUBSYS_DESC "Point cloud library gpu octree tests")
+set(SUBSYS_DEPS common octree gpu_containers gpu_octree gpu_utils)
+
+set(DEFAULT ON)
+set(build TRUE)
+set(REASON "")
+PCL_SUBSYS_OPTION(build "${SUBSYS_NAME}" "${SUBSYS_DESC}" ${DEFAULT} "${REASON}")
+PCL_SUBSYS_DEPEND(build "${SUBSYS_NAME}" DEPS ${SUBSYS_DEPS} OPT_DEPS ${OPT_DEPS})
+
+if(NOT build)
+  return()
+endif()
+
+PCL_ADD_TEST(gpu_octree_performance test_gpu_octree_perfomance FILES perfomance.cpp LINK_WITH pcl_gtest pcl_common pcl_octree pcl_gpu_octree)
+PCL_ADD_TEST(gpu_octree_approx_nearest test_gpu_approx_nearest FILES test_approx_nearest.cpp LINK_WITH pcl_gtest pcl_common pcl_octree pcl_gpu_octree pcl_gpu_utils)
+PCL_ADD_TEST(gpu_octree_bfrs test_gpu_bfrs FILES test_bfrs_gpu.cpp LINK_WITH pcl_gtest pcl_common pcl_octree pcl_gpu_octree)
+PCL_ADD_TEST(gpu_octree_host_radius test_gpu_host_radius_search FILES test_host_radius_search.cpp LINK_WITH pcl_gtest pcl_common pcl_octree pcl_gpu_octree)
+PCL_ADD_TEST(gpu_octree_knn_search test_gpu_knn_search FILES test_knn_search.cpp LINK_WITH pcl_gtest pcl_common pcl_octree pcl_gpu_octree)
+PCL_ADD_TEST(gpu_octree_radius_search test_gpu_radius_search FILES test_radius_search.cpp LINK_WITH pcl_gtest pcl_common pcl_octree pcl_gpu_octree)
diff --git a/test/gpu/octree/data_source.hpp b/test/gpu/octree/data_source.hpp
@@ -131,7 +131,7 @@ struct DataGenerator
             float query_radius = radius > 0 ? radius : radiuses[i];
             const PointType& query = queries[i];
 
-            for(std::size_t ind = 0; ind < size(); ++ind)
+            for(std::size_t ind = 0; ind < points.size(); ++ind)
             {
                 const PointType& point = points[ind];
 
diff --git a/test/gpu/octree/perfomance.cpp b/test/gpu/octree/perfomance.cpp
@@ -98,7 +98,7 @@ TEST(PCL_OctreeGPU, performance)
 
     //prepare host cloud
     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_host(new pcl::PointCloud<pcl::PointXYZ>);	
-    cloud_host->width = data.size();
+    cloud_host->width = data.points.size();
     cloud_host->height = 1;
     cloud_host->points.resize (cloud_host->width * cloud_host->height);    
     std::transform(data.points.begin(), data.points.end(), cloud_host->points.begin(), DataGenerator::ConvPoint<pcl::PointXYZ>());
@@ -251,3 +251,13 @@ TEST(PCL_OctreeGPU, performance)
             octree_host.nearestKSearch(data.queries[i], k, indeces, pointRadiusSquaredDistance);
     }*/
 }
+
+/* ---[ */
+int
+main (int argc, char** argv)
+{
+  testing::InitGoogleTest (&argc, argv);
+  return (RUN_ALL_TESTS ());
+}
+/* ]--- */
+
diff --git a/test/gpu/octree/test_approx_nearest.cpp b/test/gpu/octree/test_approx_nearest.cpp
@@ -40,9 +40,9 @@
 
 #include <gtest/gtest.h>
 
-#include<iostream>
-#include<fstream>
-#include<algorithm>
+#include <iostream>
+#include <fstream>
+#include <algorithm>
 
 #if defined _MSC_VER
     #pragma warning (disable: 4521)
@@ -55,7 +55,6 @@
 
 #include <pcl/gpu/octree/octree.hpp>
 #include <pcl/gpu/containers/device_array.h>
-#include <pcl/gpu/utils/safe_call.hpp>
 
 #include "data_source.hpp"
 
@@ -84,7 +83,7 @@ TEST(PCL_OctreeGPU, approxNearesSearch)
 
     //prepare host cloud
     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_host(new pcl::PointCloud<pcl::PointXYZ>);	
-    cloud_host->width = data.size();
+    cloud_host->width = data.points.size();
     cloud_host->height = 1;
     cloud_host->points.resize (cloud_host->width * cloud_host->height);    
     std::transform(data.points.begin(), data.points.end(), cloud_host->points.begin(), DataGenerator::ConvPoint<pcl::PointXYZ>());
@@ -146,3 +145,13 @@ TEST(PCL_OctreeGPU, approxNearesSearch)
     std::cout << "avg_diff_pcl_better: " << diff_pcl_better << std::endl;    
 
 }
+
+/* ---[ */
+int
+main (int argc, char** argv)
+{
+  testing::InitGoogleTest (&argc, argv);
+  return (RUN_ALL_TESTS ());
+}
+/* ]--- */
+
diff --git a/test/gpu/octree/test_bfrs_gpu.cpp b/test/gpu/octree/test_bfrs_gpu.cpp
@@ -98,3 +98,13 @@ TEST (PCL_GPU, bruteForceRadiusSeachGPU)
     std::cout << "avg_result_size = " << avg_size << std::endl;
     ASSERT_GT(avg_size, 5);    
 }
+
+/* ---[ */
+int
+main (int argc, char** argv)
+{
+  testing::InitGoogleTest (&argc, argv);
+  return (RUN_ALL_TESTS ());
+}
+/* ]--- */
+
diff --git a/test/gpu/octree/test_host_radius_search.cpp b/test/gpu/octree/test_host_radius_search.cpp
@@ -81,7 +81,7 @@ TEST(PCL_OctreeGPU, hostRadiusSearch)
 
     //prepare host cloud
     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_host(new pcl::PointCloud<pcl::PointXYZ>);	
-    cloud_host->width = data.size();
+    cloud_host->width = data.points.size();
     cloud_host->height = 1;
     cloud_host->points.resize (cloud_host->width * cloud_host->height);
     std::transform(data.points.begin(), data.points.end(),  cloud_host->points.begin(), DataGenerator::ConvPoint<pcl::PointXYZ>());
@@ -141,3 +141,4 @@ int main (int argc, char** argv)
     testing::InitGoogleTest (&argc, argv);
     return (RUN_ALL_TESTS ());
 }
+
diff --git a/test/gpu/octree/test_knn_search.cpp b/test/gpu/octree/test_knn_search.cpp
@@ -93,7 +93,7 @@ TEST(PCL_OctreeGPU, exactNeighbourSearch)
 
     //prepare host cloud
     pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_host(new pcl::PointCloud<pcl::PointXYZ>);	
-    cloud_host->width = data.size();
+    cloud_host->width = data.points.size();
     cloud_host->height = 1;
     cloud_host->points.resize (cloud_host->width * cloud_host->height);    
     std::transform(data.points.begin(), data.points.end(), cloud_host->points.begin(), DataGenerator::ConvPoint<pcl::PointXYZ>());
@@ -116,8 +116,8 @@ TEST(PCL_OctreeGPU, exactNeighbourSearch)
     pcl::gpu::NeighborIndices result_device(data.tests_num, k);    
 
     //prepare output buffers on host
-    std::vector<vector<  int> > result_host(data.tests_num);   
-    std::vector<vector<float> >  dists_host(data.tests_num);    
+    std::vector<std::vector<  int> > result_host(data.tests_num);   
+    std::vector<std::vector<float> >  dists_host(data.tests_num);
     for(std::size_t i = 0; i < data.tests_num; ++i)
     {
         result_host[i].reserve(k);
@@ -163,7 +163,7 @@ TEST(PCL_OctreeGPU, exactNeighbourSearch)
             PriorityPair gpu;
             gpu.index = downloaded_cur[n];
 
-            float dist = (data.queries[i].getVector3fMap() - data[gpu.index].getVector3fMap()).norm();
+            float dist = (data.queries[i].getVector3fMap() - data.points[gpu.index].getVector3fMap()).norm();
             gpu.dist2 = dist * dist;
             pairs_gpu.push_back(gpu);
         }
@@ -181,3 +181,13 @@ TEST(PCL_OctreeGPU, exactNeighbourSearch)
         }             
     }     
 }
+
+/* ---[ */
+int
+main (int argc, char** argv)
+{
+  testing::InitGoogleTest (&argc, argv);
+  return (RUN_ALL_TESTS ());
+}
+/* ]--- */
+
diff --git a/test/gpu/octree/test_radius_search.cpp b/test/gpu/octree/test_radius_search.cpp
@@ -225,3 +225,12 @@ TEST(PCL_OctreeGPU, batchRadiusSearch)
     ASSERT_GT(avg_size3, 5);
 }
 
+/* ---[ */
+int
+main (int argc, char** argv)
+{
+  testing::InitGoogleTest (&argc, argv);
+  return (RUN_ALL_TESTS ());
+}
+/* ]--- */
+

Original file line number	Diff line number	Diff line change
`@@ -131,7 +131,7 @@ struct DataGenerator`
`131`	`131`	`float query_radius = radius > 0 ? radius : radiuses[i];`
`132`	`132`	`const PointType& query = queries[i];`
`133`	`133`
`134`		`- for(std::size_t ind = 0; ind < size(); ++ind)`
	`134`	`+ for(std::size_t ind = 0; ind < points.size(); ++ind)`
`135`	`135`	`{`
`136`	`136`	`const PointType& point = points[ind];`
`137`	`137`