Added unit tests for GroundBasedPeopleDetectionApp and PersonClassifi…

…er of people module.
aginika · Apr 15, 2013 · fc89e09 · fc89e09
1 parent 977a3e7
commit fc89e09
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Showing 7 changed files with 307,369 additions and 10 deletions.
diff --git a/people/include/pcl/people/ground_based_people_detection_app.h b/people/include/pcl/people/ground_based_people_detection_app.h
@@ -221,8 +221,10 @@ namespace pcl
        * \brief Perform people detection on the input data and return people clusters information.
        * 
        * \param[out] clusters Vector of PersonCluster.
+       * 
+       * \return true if the compute operation is succesful, false otherwise.
        */
-      void
+      bool
       compute (std::vector<pcl::people::PersonCluster<PointT> >& clusters);
 
     protected:

diff --git a/people/include/pcl/people/impl/ground_based_people_detection_app.hpp b/people/include/pcl/people/impl/ground_based_people_detection_app.hpp
@@ -203,29 +203,29 @@ pcl::people::GroundBasedPeopleDetectionApp<PointT>::swapDimensions (pcl::PointCl
   cloud = output_cloud;
 }
 
-template <typename PointT> void
+template <typename PointT> bool
 pcl::people::GroundBasedPeopleDetectionApp<PointT>::compute (std::vector<pcl::people::PersonCluster<PointT> >& clusters)
 {
   // Check if all mandatory variables have been set:
   if (sqrt_ground_coeffs_ != sqrt_ground_coeffs_)
   {
     PCL_ERROR ("[pcl::people::GroundBasedPeopleDetectionApp::compute] Floor parameters have not been set or they are not valid!\n");
-    return;
+    return (false);
   }
   if (cloud_ == NULL)
   {
     PCL_ERROR ("[pcl::people::GroundBasedPeopleDetectionApp::compute] Input cloud has not been set!\n");
-    return;
+    return (false);
   }
   if (intrinsics_matrix_(0) == 0)
   {
     PCL_ERROR ("[pcl::people::GroundBasedPeopleDetectionApp::compute] Camera intrinsic parameters have not been set!\n");
-    return;
+    return (false);
   }
   if (!person_classifier_set_flag_)
   {
     PCL_ERROR ("[pcl::people::GroundBasedPeopleDetectionApp::compute] Person classifier has not been set!\n");
-    return;
+    return (false);
   }
 
   if (!dimension_limits_set_)    // if dimension limits have not been set by the user
@@ -300,6 +300,8 @@ pcl::people::GroundBasedPeopleDetectionApp<PointT>::compute (std::vector<pcl::pe
     bottom /= bottom(2);
     it->setPersonConfidence(person_classifier_.evaluate(rgb_image_, bottom, top, centroid, intrinsics_matrix_, vertical_));
   }
+
+  return (true);
 }
 
 template <typename PointT>

diff --git a/people/include/pcl/people/impl/person_classifier.hpp b/people/include/pcl/people/impl/person_classifier.hpp
@@ -49,7 +49,7 @@ pcl::people::PersonClassifier<PointT>::PersonClassifier () {}
 template <typename PointT>
 pcl::people::PersonClassifier<PointT>::~PersonClassifier () {}
 
-template <typename PointT> void
+template <typename PointT> bool
 pcl::people::PersonClassifier<PointT>::loadSVMFromFile (std::string svm_filename)
 {
   std::string line;
@@ -79,6 +79,16 @@ pcl::people::PersonClassifier<PointT>::loadSVMFromFile (std::string svm_filename
     SVM_weights_.push_back(std::atof(line.substr(prev_tok_pos+1, tok_pos-prev_tok_pos-1).c_str()));
   }
   SVM_file.close();
+
+  if (SVM_weights_.size() == 0)
+  {
+    PCL_ERROR ("[pcl::people::PersonClassifier::loadSVMFromFile] Invalid SVM file!\n");
+    return (false);
+  }
+  else
+  {
+    return (true);
+  }
 }
 
 template <typename PointT> void

diff --git a/people/include/pcl/people/person_classifier.h b/people/include/pcl/people/person_classifier.h
@@ -81,8 +81,10 @@ namespace pcl
       /** \brief Load SVM parameters from a text file. 
        *
        * \param[in] svm_filename Filename containing SVM parameters.
+       * 
+       * \return true if SVM has been correctly set, false otherwise.
        */
-      void
+      bool
       loadSVMFromFile (std::string svm_filename);
 
       /**

diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
@@ -3,10 +3,10 @@ set(SUBSYS_DESC "Point cloud library global unit tests")
 
 if(BUILD_visualization)
   include (${VTK_USE_FILE})
-  set(SUBSYS_DEPS 2d common sample_consensus io kdtree features filters geometry keypoints search surface registration segmentation octree recognition outofcore visualization)
+  set(SUBSYS_DEPS 2d common sample_consensus io kdtree features filters geometry keypoints search surface registration segmentation octree recognition people outofcore visualization)
   set(OPT_DEPS vtk)
 else()
-  set(SUBSYS_DEPS 2d common sample_consensus io kdtree features filters geometry keypoints search surface registration segmentation octree recognition outofcore)
+  set(SUBSYS_DEPS 2d common sample_consensus io kdtree features filters geometry keypoints search surface registration segmentation octree recognition people outofcore)
 endif()
 
 set(DEFAULT ON)
@@ -72,6 +72,10 @@ if(build)
                  LINK_WITH pcl_gtest pcl_common pcl_io pcl_kdtree pcl_features pcl_recognition pcl_keypoints
                  ARGUMENTS ${PCL_SOURCE_DIR}/test/milk.pcd ${PCL_SOURCE_DIR}/test/milk_cartoon_all_small_clorox.pcd)   
 
+    PCL_ADD_TEST(a_people_detection_test test_people_detection
+                 FILES test_people_groundBasedPeopleDetectionApp.cpp
+                 LINK_WITH pcl_gtest pcl_common pcl_io pcl_kdtree pcl_search pcl_features pcl_sample_consensus pcl_filters pcl_io pcl_segmentation
+                 ARGUMENTS ${PCL_SOURCE_DIR}/test/five_people.pcd)   
 
     if(BUILD_visualization AND (NOT UNIX OR (UNIX AND DEFINED ENV{DISPLAY})))
         PCL_ADD_TEST(a_visualization_test test_visualization