Add unit tests for MLvxCalib and fix two Eigen aliasing bugs - #484
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Adds a doctest suite for MLvxCalib (Livox calibration file parsing:
GetIdToSnMapping, GetCalibrationFromFile, GetImuSnToUse,
CombineIntoCalibration, GetImuIdToUse), compiling the real
lidar_odometry_utils.cpp against core_no_gui rather than duplicating
the logic.
Writing the tests surfaced two self-aliasing Eigen assignments in
GetCalibrationFromFile ("COLUMN" order transpose and "inverted"
matrix inverse) that silently corrupt the parsed matrix in Release
and abort on Eigen's aliasing assertion in Debug. Both fixed with
transposeInPlace()/inverse().eval().
Also wires BUILD_TESTING=ON and a ctest step into all four CI
workflows (Windows, macOS, Linux, Linux .deb) -- previously none of
them actually built or ran the test suite. That in turn exposed a
missing <cassert> include in shared/include/HDMapping/PoseInterpolation.h,
fixed here too.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Signed-off-by: Michal Pelka <michalpelka@gmail.com>
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Adds a doctest suite for MLvxCalib (Livox calibration file parsing: GetIdToSnMapping, GetCalibrationFromFile, GetImuSnToUse, CombineIntoCalibration, GetImuIdToUse), compiling the real lidar_odometry_utils.cpp against core_no_gui rather than duplicating the logic.
Writing the tests surfaced two self-aliasing Eigen assignments in GetCalibrationFromFile ("COLUMN" order transpose and "inverted" matrix inverse) that silently corrupt the parsed matrix in Release and abort on Eigen's aliasing assertion in Debug. Both fixed with transposeInPlace()/inverse().eval().
Also wires BUILD_TESTING=ON and a ctest step into all four CI workflows (Windows, macOS, Linux, Linux .deb) -- previously none of them actually built or ran the test suite. That in turn exposed a missing include in shared/include/HDMapping/PoseInterpolation.h, fixed here too.