Add unit test

movidius_ncs_image/CMakeLists.txt

@@ -23,6 +23,7 @@ find_package(catkin REQUIRED COMPONENTS
   image_transport
   cv_bridge
   roslint
+  rostest
 )
 
 catkin_package(
@@ -104,4 +105,15 @@ if(CATKIN_ENABLE_TESTING)
   find_package(roslint REQUIRED)
   roslint_cpp()
   roslint_add_test()
+
+  # rostest classification
+  add_executable(unittest_image_classification tests/unittest_image_classification.cpp)
+  target_link_libraries(unittest_image_classification ${catkin_LIBRARIES} ${GTEST_LIBRARIES} ${UNITEST_LIBRARIES})
+  add_dependencies(unittest_image_classification ${catkin_EXPORTED_TARGETS})
+  # rostest detection
+  add_executable(unittest_image_detection tests/unittest_image_detection.cpp)
+  target_link_libraries(unittest_image_detection ${catkin_LIBRARIES} ${GTEST_LIBRARIES} ${UNITEST_LIBRARIES})
+  add_dependencies(unittest_image_detection ${catkin_EXPORTED_TARGETS})
+
+  add_rostest(tests/test_unit.test)
 endif()

movidius_ncs_image/package.xml

@@ -36,6 +36,7 @@ limitations under the License.
   <build_depend>object_msgs</build_depend>
   <build_depend>movidius_ncs_lib</build_depend>
   <build_depend>roslint</build_depend>
+  <build_depend>rostest</build_depend>
 
   <run_depend>roscpp</run_depend>
   <run_depend>sensor_msgs</run_depend>

movidius_ncs_image/tests/test_unit.test

@@ -0,0 +1,37 @@
+<!--
+Copyright (c) 2017 Intel Corporation
+
+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.
+-->
+
+<launch>
+  <arg name="cnn_type"        default="alexnet" />
+  <group>
+    <include file="$(find movidius_ncs_launch)/launch/includes/ncs_image.launch">
+      <arg name="cnn_type"    value="$(arg cnn_type)" />
+    </include>
+  </group>
+
+  <group if="$(eval cnn_type == 'alexnet' or cnn_type == 'googlenet'
+             or cnn_type == 'inception_v1' or cnn_type == 'inception_v2'
+             or cnn_type == 'inception_v3' or cnn_type == 'inception_v4'
+             or cnn_type == 'mobilenet' or cnn_type == 'squeezenet')">
+    <test pkg="movidius_ncs_image" type="unittest_image_classification" test-name="image_test" time-limit="10">
+    </test>
+  </group>
+
+  <group if="$(eval cnn_type == 'mobilenetssd' or cnn_type == 'tinyyolo_v1')">
+    <test pkg="movidius_ncs_image" type="unittest_image_detection" test-name="image_test" time-limit="10">
+    </test>
+  </group>
+</launch>

movidius_ncs_image/tests/unittest_image_classification.cpp

@@ -0,0 +1,51 @@
+/*
+ * Copyright (c) 2017 Intel Corporation
+ *
+ * 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 <string>
+
+#include <gtest/gtest.h>
+#include <opencv2/highgui.hpp>
+#include <cv_bridge/cv_bridge.h>
+#include <ros/package.h>
+#include <ros/ros.h>
+#include <object_msgs/ClassifyObject.h>
+
+TEST(UnitTestClassification, testImage)
+{
+  ros::NodeHandle n;
+  ros::ServiceClient client;
+  client = n.serviceClient<object_msgs::ClassifyObject>("/movidius_ncs_image/classify_object");
+  object_msgs::ClassifyObject srv;
+
+  cv_bridge::CvImage cv_image;
+  sensor_msgs::Image ros_image;
+  cv_image.image = cv::imread(ros::package::getPath("movidius_ncs_lib") + "/../data/images/bicycle.jpg");
+  cv_image.encoding = "bgr8";
+  cv_image.toImageMsg(ros_image);
+  srv.request.image = ros_image;
+
+  client.waitForExistence(ros::Duration(60));
+  EXPECT_TRUE(client.call(srv));
+  EXPECT_TRUE(srv.response.objects.objects_vector.size());
+  EXPECT_TRUE(srv.response.objects.objects_vector[0].object_name.find("cycle") != std::string::npos);
+}
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  ros::init(argc, argv, "movidius_ncs_image_tests");
+  return RUN_ALL_TESTS();
+}

movidius_ncs_image/tests/unittest_image_detection.cpp

@@ -0,0 +1,64 @@
+/*
+ * Copyright (c) 2017 Intel Corporation
+ *
+ * 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 <string>
+#include <vector>
+
+#include <gtest/gtest.h>
+#include <opencv2/highgui.hpp>
+#include <cv_bridge/cv_bridge.h>
+#include <ros/package.h>
+#include <ros/ros.h>
+#include <object_msgs/DetectObject.h>
+
+TEST(UnitTestDetection, testImage)
+{
+  ros::NodeHandle n;
+  ros::ServiceClient client = n.serviceClient<object_msgs::DetectObject>("/movidius_ncs_image/detect_object");
+  object_msgs::DetectObject srv;
+
+  cv_bridge::CvImage cv_image;
+  sensor_msgs::Image ros_image;
+  std::vector<std::string> image_format = {".jpg", ".jpeg", ".png", ".bmp"};
+  for (std::string suffix : image_format)
+  {
+    cv_image.image = cv::imread(ros::package::getPath("movidius_ncs_lib") + "/../data/images/bicycle"+suffix);
+    cv_image.encoding = "bgr8";
+    cv_image.toImageMsg(ros_image);
+
+    srv.request.image = ros_image;
+
+    client.waitForExistence(ros::Duration(60));
+    EXPECT_TRUE(client.call(srv));
+    EXPECT_TRUE(srv.response.objects.objects_vector.size());
+    EXPECT_EQ(srv.response.objects.objects_vector[0].object.object_name, "bicycle");
+    EXPECT_TRUE(srv.response.objects.objects_vector[0].roi.x_offset > 130 &&
+      srv.response.objects.objects_vector[0].roi.x_offset < 150 &&
+      srv.response.objects.objects_vector[0].roi.y_offset > 90 &&
+      srv.response.objects.objects_vector[0].roi.y_offset < 110 &&
+      srv.response.objects.objects_vector[0].roi.width > 410 &&
+      srv.response.objects.objects_vector[0].roi.width < 470 &&
+      srv.response.objects.objects_vector[0].roi.height > 340 &&
+      srv.response.objects.objects_vector[0].roi.height < 360);
+  }
+}
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  ros::init(argc, argv, "movidius_ncs_image_tests");
+  return RUN_ALL_TESTS();
+}

movidius_ncs_lib/CMakeLists.txt

@@ -18,6 +18,7 @@ project(movidius_ncs_lib)
 find_package(catkin REQUIRED COMPONENTS
   roscpp
   roslint
+  rostest
 )
 
 catkin_package(
@@ -122,6 +123,18 @@ install(DIRECTORY include/${PROJECT_NAME}/
 
 if(CATKIN_ENABLE_TESTING)
   find_package(roslint REQUIRED)
+  find_package(OpenCV REQUIRED)
+  find_package(catkin REQUIRED COMPONENTS roslib)
   roslint_cpp()
   roslint_add_test()
+
+  # rostest NCS SDK environment
+  add_executable(unittest_environment tests/unittest_environment.cpp)
+  target_link_libraries(unittest_environment ${catkin_LIBRARIES} ${GTEST_LIBRARIES} ${UNITEST_LIBRARIES})
+  # rostest library function
+  add_executable(unittest_function tests/unittest_function.cpp)
+  target_link_libraries(unittest_function ${PROJECT_NAME} ${OpenCV_LIBS} ${catkin_LIBRARIES} ${GTEST_LIBRARIES} ${UNITEST_LIBRARIES})
+  add_dependencies(unittest_function ${catkin_EXPORTED_TARGETS})
+
+  add_rostest(tests/test_all.test)
 endif()

movidius_ncs_lib/package.xml

@@ -31,6 +31,7 @@ limitations under the License.
 
   <build_depend>roscpp</build_depend>
   <build_depend>roslint</build_depend>
+  <build_depend>rostest</build_depend>
 
   <run_depend>roscpp</run_depend>
   <run_depend>roslint</run_depend>

movidius_ncs_lib/tests/test_all.test

@@ -0,0 +1,22 @@
+<!--
+Copyright (c) 2017 Intel Corporation
+
+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.
+-->
+
+<launch>
+  <test pkg="movidius_ncs_lib" type="unittest_environment" test-name="environment_test" time-limit="10">
+  </test>
+  <test pkg="movidius_ncs_lib" type="unittest_function" test-name="function_test" time-limit="100">
+  </test>
+</launch>

movidius_ncs_lib/tests/unittest_environment.cpp

@@ -0,0 +1,67 @@
+/*
+ * Copyright (c) 2017 Intel Corporation
+ *
+ * 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 <fstream>
+#include <string>
+#include <vector>
+
+#include <boost/filesystem/operations.hpp>
+#include <gtest/gtest.h>
+
+TEST(UnitTestEnvironment, testSDK)
+{
+  std::system("python2 /opt/movidius/NCSDK/tests/api-check/ncs-python2-check.py > /tmp/NCS_unittest.txt");
+  EXPECT_TRUE(boost::filesystem::exists("/tmp/NCS_unittest.txt"));
+  std::ifstream fin("/tmp/NCS_unittest.txt");
+  std::string ncs_check, tmp;
+  while (std::getline(fin, tmp))
+  {
+    ncs_check = tmp;
+  }
+  EXPECT_EQ(ncs_check, "NCS device working.");
+  std::system("rm -rf /tmp/NCS_unittest.txt > /dev/null 2>&1");
+}
+
+TEST(UnitTestEnvironment, testAppZoo)
+{
+  EXPECT_TRUE(boost::filesystem::exists("/opt/movidius/ncappzoo"));
+  std::system("cd /opt/movidius/ncappzoo && make > /dev/null 2>&1");
+  std::vector<std::string> caffe_dirs = { "AlexNet", "GoogLeNet", "SqueezeNet", "SSD_MobileNet", "TinyYolo" };
+  std::vector<std::string> tf_dirs = { "inception_v1", "inception_v2", "inception_v3", "inception_v4", "mobilenets" };
+  for (std::string caffe : caffe_dirs)
+  {
+    EXPECT_TRUE(boost::filesystem::exists("/opt/movidius/ncappzoo/caffe/" + caffe + "/graph"));
+  }
+
+  for (std::string tf : tf_dirs)
+  {
+    EXPECT_TRUE(boost::filesystem::exists("/opt/movidius/ncappzoo/tensorflow/" + tf + "/graph"));
+  }
+}
+
+TEST(UnitTestEnvironment, testCategories)
+{
+  EXPECT_TRUE(boost::filesystem::exists("/opt/movidius/ncappzoo/data/ilsvrc12/imagenet1000.txt"));
+  EXPECT_TRUE(boost::filesystem::exists("/opt/movidius/ncappzoo/data/ilsvrc12/imagenet1001.txt"));
+  EXPECT_TRUE(boost::filesystem::exists("/opt/movidius/ncappzoo/data/ilsvrc12/voc20.txt"));
+  EXPECT_TRUE(boost::filesystem::exists("/opt/movidius/ncappzoo/data/ilsvrc12/voc21.txt"));
+}
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}