Add test_panel_simple_detector_plugin and test_data

detector2d_plugins/CMakeLists.txt

@@ -25,7 +25,8 @@ if(BUILD_TESTING)
   find_package(ament_cmake_gmock REQUIRED)
 
   set(TEST_TARGETS
-    test_publish_center_plugin)
+    test_publish_center_plugin
+    test_panel_simple_detector_plugin)
   foreach(TARGET ${TEST_TARGETS})
     ament_add_gtest(${TARGET} test/src/${TARGET}.cpp)
     target_link_libraries(${TARGET} ${PROJECT_NAME} ${OpenCV_LIBRARIES})
@@ -35,4 +36,6 @@ endif()
 pluginlib_export_plugin_description_file(detector2d_base detector2d_plugins.xml)
 
 include_directories(include)
-ament_auto_package()
+ament_auto_package(INSTALL_TO_SHARE
+  test/test_data
+)

detector2d_plugins/test/src/test_panel_simple_detector_plugin.cpp

@@ -0,0 +1,57 @@
+#include <ament_index_cpp/get_package_share_directory.hpp>
+#include <gtest/gtest.h>
+#include <opencv2/opencv.hpp>
+#include <detector2d_base/detector2d_base.hpp>
+#include <detector2d_param/detector2d_param.hpp>
+#include <detector2d_plugins/panel_simple_detector.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+class TestDetector2dClass : public ::testing::Test
+{
+protected:
+  std::unique_ptr<detector2d_plugins::PanelSimpleDetector> target_class_;
+  std::shared_ptr<detector2d_parameters::ParamListener> param_listener_;
+
+  std::string image_path;
+
+  virtual void SetUp()
+  {
+    rclcpp::init(0, nullptr);
+    auto node = std::make_shared<rclcpp::Node>("test_node");
+
+    this->image_path = ament_index_cpp::get_package_share_directory("detector2d_plugins") +
+      "/test_data/dark_00.png";
+
+    this->target_class_ =
+      std::make_unique<detector2d_plugins::PanelSimpleDetector>();
+
+    this->param_listener_ =
+      std::make_shared<detector2d_parameters::ParamListener>(
+      node->get_node_parameters_interface());
+    this->target_class_->init(*this->param_listener_);
+  }
+};
+
+TEST_F(TestDetector2dClass, test_default)
+{
+  cv::Mat3b image = cv::imread(this->image_path, cv::IMREAD_COLOR);
+  auto result = this->target_class_->detect(image);
+
+  // bboxes [0]: 468, 328
+  // bboxes [1]: 632, 325
+  // bboxes [2]: 882, 345 <-- remove
+  // bboxes [3]: 797, 298
+  // bboxes [4]: 555, 228
+
+  ASSERT_EQ(result.detections[0].bbox.center.position.x, 468);
+  ASSERT_EQ(result.detections[0].bbox.center.position.y, 328);
+
+  ASSERT_EQ(result.detections[1].bbox.center.position.x, 632);
+  ASSERT_EQ(result.detections[1].bbox.center.position.y, 325);
+
+  ASSERT_EQ(result.detections[3].bbox.center.position.x, 797);
+  ASSERT_EQ(result.detections[3].bbox.center.position.y, 298);
+
+  ASSERT_EQ(result.detections[4].bbox.center.position.x, 555);
+  ASSERT_EQ(result.detections[4].bbox.center.position.y, 228);
+}