Add unit tests for MLvxCalib and fix two Eigen aliasing bugs

.github/workflows/cmake-linux-deb.yml

@@ -38,7 +38,7 @@ jobs:
     - name: Configure CMake
       # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
       # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
-      run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DBUILD_WITH_BUNDLED_FREEGLUT=0 -DBUILD_WITH_BUNDLED_EIGEN=0 -DBUILD_WITH_BUNDLED_LIBLASZIP=0
+      run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DBUILD_WITH_BUNDLED_FREEGLUT=0 -DBUILD_WITH_BUNDLED_EIGEN=0 -DBUILD_WITH_BUNDLED_LIBLASZIP=0 -DBUILD_TESTING=ON
 
     - name: Build
       # Build your program with the given configuration

.github/workflows/cmake-linux.yml

@@ -41,7 +41,7 @@ jobs:
     - name: Configure CMake
       # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
       # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
-      run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
+      run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DBUILD_TESTING=ON
 
     - name: Build
       # Build your program with the given configuration

.github/workflows/macos.yml

@@ -30,11 +30,18 @@ jobs:
           cmake -B ${{github.workspace}}/build \
             -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} \
             -DFREEGLUT_COCOA=ON \
-            -DHD_CPU_OPTIMIZATION=AUTO
+            -DHD_CPU_OPTIMIZATION=AUTO \
+            -DBUILD_TESTING=ON
 
       - name: Build
         run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}} -j$(sysctl -n hw.ncpu)
 
+      - name: Test
+        working-directory: ${{github.workspace}}/build
+        # Execute tests defined by the CMake configuration.
+        # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
+        run: ctest -C ${{env.BUILD_TYPE}} --output-on-failure
+
       - name: List built binaries
         run: |
           echo "Built binaries:"

.github/workflows/windows.yml

@@ -35,12 +35,17 @@ jobs:
       - name: Configure CMake
         # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
         # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
-        run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
+        run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}} -DBUILD_TESTING=ON
 
       - name: Build
         # Build your program with the given configuration
         run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}} --target package
 
+      - name: Test
+        working-directory: ${{github.workspace}}/build
+        # Execute tests defined by the CMake configuration.
+        # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
+        run: ctest -C ${{env.BUILD_TYPE}} --output-on-failure
 
       - name: Deploy mandeye package
         shell: cmd

CMakeLists.txt

@@ -111,6 +111,7 @@ option(BUILD_TESTING "Build HDMapping unit tests" OFF)
 if(BUILD_TESTING)
     enable_testing()
     add_subdirectory(shared/tests)
+    add_subdirectory(apps/lidar_odometry_step_1/tests)
 endif()
 
 set(CORE_LIBRARIES core)

apps/lidar_odometry_step_1/lidar_odometry_utils.cpp

@@ -670,12 +670,12 @@ std::unordered_map<std::string, Eigen::Affine3d> MLvxCalib::GetCalibrationFromFi
 
             std::transform(order.begin(), order.end(), order.begin(), ::toupper);
             if (order == "COLUMN")
-                value = value.transpose();
+                value.transposeInPlace(); // NOTE: `value = value.transpose()` aliases and corrupts the matrix; must transpose in place.
         }
 
         bool inverted = JsonGetBool(calibrationEntry.value(), "inverted", false);
         if (inverted)
-            value = value.inverse();
+            value = value.inverse().eval(); // `value = value.inverse()` aliases: Eigen needs the eval() to use a temporary here.
 
         Eigen::IOFormat HeavyFmt(Eigen::FullPrecision, 0, ", ", ";\n", "[", "]", "[", "]");
 

apps/lidar_odometry_step_1/tests/CMakeLists.txt

@@ -0,0 +1,49 @@
+cmake_minimum_required(VERSION 4.0.0)
+
+project(lidar_odometry_step_1_tests)
+
+# Unit tests for the MLvxCalib namespace (lidar_odometry_utils.h/.cpp), which
+# parses Livox extrinsic/IMU calibration files (.json/.mjc and .sn). Compiles
+# the real lidar_odometry_utils.cpp (no GUI code path, WITH_GUI left
+# undefined) instead of the whole lidar_odometry_step_1 app, so the include
+# dirs/link libraries below are the subset that TU actually needs: laszip and
+# TBB because load_point_cloud()/decimate() (compiled into the same TU) use
+# them even though the tests never call those functions, core_no_gui for
+# Core/ndt.h & Core/hash_utils.h symbols, and vqf/Fusion/unordered_dense/
+# spdlog/UTL for the rest of lidar_odometry_utils.h's includes. Uses doctest,
+# same as shared/tests.
+add_executable(lidar_odometry_step_1_tests
+    test_mlvx_calib.cpp
+    ../lidar_odometry_utils.cpp
+)
+
+target_include_directories(lidar_odometry_step_1_tests PRIVATE
+    ${THIRDPARTY_DIRECTORY}/doctest
+    ${REPOSITORY_DIRECTORY}/core/include
+    ${THIRDPARTY_DIRECTORY}
+    ${EIGEN3_INCLUDE_DIR}
+    ${THIRDPARTY_DIRECTORY}/json/include
+    ${LASZIP_INCLUDE_DIR}/LASzip/include
+    ${THIRDPARTY_DIRECTORY}/observation_equations/codes
+    ${THIRDPARTY_DIRECTORY}/vqf/vqf/cpp
+    ${THIRDPARTY_DIRECTORY}/Fusion/Fusion
+)
+
+target_link_libraries(lidar_odometry_step_1_tests PRIVATE
+    core_no_gui
+    vqf
+    Fusion
+    unordered_dense::unordered_dense
+    spdlog::spdlog
+    UTL::include
+    ${PLATFORM_LASZIP_LIB}
+    ${PLATFORM_MISCELLANEOUS_LIBS}
+)
+
+if (MSVC)
+    target_compile_definitions(lidar_odometry_step_1_tests PRIVATE _USE_MATH_DEFINES)
+    target_compile_options(lidar_odometry_step_1_tests PRIVATE /bigobj)
+endif()
+
+include(CTest)
+add_test(NAME lidar_odometry_step_1_tests COMMAND lidar_odometry_step_1_tests)