otimal

test/test_point_cloud_xyz.cpp

@@ -5,6 +5,7 @@
 
 #include <robot_depth_image_proc/depth_frame_filter.h>
 #include <robot_depth_image_proc/point_cloud_xyz.h>
+#include <robot_depth_image_proc/processing_rate_limiter.h>
 #include <robot_sensor_msgs/image_encodings.h>
 #include <robot_sensor_msgs/point_cloud2_iterator.h>
 
@@ -59,6 +60,50 @@ robot_sensor_msgs::Image makeFlatDepthImage(
 
 }  // namespace
 
+TEST(ProcessingRateLimiter, LimitsWorkWithoutCatchUpBursts)
+{
+  using Clock = depth_image_proc::ProcessingRateLimiter::Clock;
+  using namespace std::chrono_literals;
+
+  depth_image_proc::ProcessingRateLimiter limiter(10.0);
+  const Clock::time_point start{};
+
+  EXPECT_TRUE(limiter.shouldProcessAt(start));
+  EXPECT_FALSE(limiter.shouldProcessAt(start + 50ms));
+  EXPECT_TRUE(limiter.shouldProcessAt(start + 100ms));
+
+  // A late callback schedules from "now"; it does not create a catch-up burst.
+  EXPECT_TRUE(limiter.shouldProcessAt(start + 350ms));
+  EXPECT_FALSE(limiter.shouldProcessAt(start + 351ms));
+  EXPECT_TRUE(limiter.shouldProcessAt(start + 450ms));
+}
+
+TEST(ProcessingRateLimiter, NonPositiveRateDisablesLimiting)
+{
+  using Clock = depth_image_proc::ProcessingRateLimiter::Clock;
+
+  depth_image_proc::ProcessingRateLimiter limiter(0.0);
+  const Clock::time_point now{};
+  EXPECT_TRUE(limiter.shouldProcessAt(now));
+  EXPECT_TRUE(limiter.shouldProcessAt(now));
+
+  limiter.setRate(-1.0);
+  EXPECT_TRUE(limiter.shouldProcessAt(now));
+}
+
+TEST(ProcessingRateLimiter, AcceptsNominalFramesWithSmallClockJitter)
+{
+  using Clock = depth_image_proc::ProcessingRateLimiter::Clock;
+  using namespace std::chrono_literals;
+
+  depth_image_proc::ProcessingRateLimiter limiter(15.0);
+  const Clock::time_point start{};
+
+  EXPECT_TRUE(limiter.shouldProcessAt(start));
+  EXPECT_TRUE(limiter.shouldProcessAt(start + 65ms));
+  EXPECT_TRUE(limiter.shouldProcessAt(start + 130ms));
+}
+
 TEST(PointCloudXyz, ConvertsFlatDepthImage)
 {
   const uint32_t width = 3;