def run_test(id_test, test, id_estimator, estimator):
global W, H
logger.info(' id_test: %s' % id_test)
logger.info('id_estimator: %s' % id_estimator)
from led_detection.unit_tests import LEDDetectionUnitTest
assert isinstance(test, LEDDetectionUnitTest)
query = test.get_query()
print( query['images']['rgb'][0].shape)
H, W, _ = query['images']['rgb'][0].shape
print('shape is %s, %s'%(W, H))
result = estimator.detect_led(**query)
# We are testing whether the expected detections are a subset of
# the returned ones, we will accept duplicate detections of the
# same LED
match_count = [0]*len(test.expected)
for r in result.detections:
m = find_match(r, test.expected)
if(m != -1):
match_count[m]+=1
missedLEDs = [test.expected[i] for i in range(0, len(match_count)) if match_count[i]==0]
if(missedLEDs):
logger.error('missed LED detections (%s): \n %s' % (len(missedLEDs),missedLEDs))
# Valerio: check this - sometimes the error above is thrown, but the test
# does not return False
return not 0 in match_count
def run_test(id_test, test, id_estimator, estimator):
global W, H
logger.info(' id_test: %s' % id_test)
logger.info('id_estimator: %s' % id_estimator)
from led_detection.unit_tests import LEDDetectionUnitTest
assert isinstance(test, LEDDetectionUnitTest)
query = test.get_query()
print( query['images']['rgb'][0].shape)
H, W, _ = query['images']['rgb'][0].shape
print('shape is %s, %s'%(W, H))
result = estimator.detect_led(**query)
# We are testing whether the expected detections are a subset of
# the returned ones, we will accept duplicate detections of the
# same LED
match_count = [0]*len(test.expected)
for r in result.detections:
m = find_match(r, test.expected)
if(m != -1):
match_count[m]+=1
missedLEDs = [test.expected[i] for i in range(0, len(match_count)) if match_count[i]==0]
if(missedLEDs):
logger.error('missed LED detections (%s): \n %s' % (len(missedLEDs),missedLEDs))
return not 0 in match_count
def main():
script_name = os.path.basename(sys.argv[0])
args = sys.argv[1:]
if len(args) != 2:
msg = 'I need two arguments. Please see README.md for documentation.'
logger.error(msg)
sys.exit(2)
which_tests0 = sys.argv[1]
which_estimators0 = sys.argv[2]
package_dir = get_ros_package_path('led_detection')
logger.debug('Package dir: %r' % package_dir)
# dirname = 'catkin_ws/src/f23-LED/led_detection/scripts/'
#filename = 'all_tests.yaml'
filename = os.path.join(package_dir, 'scripts', 'dp45_tests.yaml')
alltests = load_tests(filename)
estimators = {
'baseline':
LEDDetector(ploteverything=False, verbose=True, plotfinal=False),
'LEDDetector_plots':
LEDDetector(True, True, True)
}
#,'LEDDetector_forloops' : LEDDetector_forloops(True, True, True)}
which_tests = expand_string(which_tests0, list(alltests))
which_estimators = expand_string(which_estimators0, list(estimators))
logger.info(' tests: %r |-> %s' % (which_tests0, which_tests))
logger.info('estimators: %r |-> %s' %
(which_estimators0, which_estimators))
# which tests to execute
test_results = {}
for id_test in which_tests:
for id_estimator in which_estimators:
result = run_test(id_test, alltests[id_test], id_estimator,
estimators[id_estimator])
test_results[(id_test, id_estimator)] = result
nfailed = list(test_results.values()).count(False)
if not nfailed:
logger.info('All tests passed')
else:
which = [k for k, v in test_results.items() if not v]
logger.error('These tests failed: %s ' % which)
sys.exit(3)
def main():
script_name = os.path.basename(sys.argv[0])
args = sys.argv[1:]
if len(args) != 2:
msg = """
Usage:
rosrun led_detection <script> <tests> <algorithms>
where:
<tests> = comma separated list of algorithms. May use "*".
<algorithms> = comma separated list of algorithms. May use "*".
For example, this runs all tests on all algorithms:
rosrun led_detection <script> '*' '*'
"""
msg = msg.replace('<script>', script_name)
logger.error(msg)
sys.exit(2)
which_tests0 = sys.argv[1]
which_estimators0 = sys.argv[2]
root = os.environ['DUCKIETOWN_ROOT']
dirname = 'catkin_ws/src/led_detection/scripts/'
filename = '20160312-allblinking_test1-argo.led_detection_test.yaml'
filename = os.path.join(root, dirname, filename)
alltests = load_tests(filename)
estimators = {'dummy': DummyLEDDetector()}
which_tests = expand_string(which_tests0, list(alltests))
which_estimators = expand_string(which_estimators0, list(estimators))
logger.info(' tests: %r |-> %s' % (which_tests0, which_tests))
logger.info('estimators: %r |-> %s' %
(which_estimators0, which_estimators))
# which tests to execute
for id_test in which_tests:
for id_estimator in which_estimators:
test_results = run_test(id_test, alltests[id_test], id_estimator,
estimators[id_estimator])
def main():
script_name = os.path.basename(sys.argv[0])
args = sys.argv[1:]
if len(args) != 2:
msg = """
Usage:
rosrun led_detection <script> <tests> <algorithms>
where:
<tests> = comma separated list of algorithms. May use "*".
<algorithms> = comma separated list of algorithms. May use "*".
For example, this runs all tests on all algorithms:
rosrun led_detection <script> '*' '*'
"""
msg = msg.replace('<script>', script_name)
logger.error(msg)
sys.exit(2)
which_tests0 = sys.argv[1]
which_estimators0 = sys.argv[2]
root = os.environ['DUCKIETOWN_ROOT']
dirname = 'catkin_ws/src/led_detection/scripts/'
filename = '20160312-allblinking_test1-argo.led_detection_test.yaml'
filename = os.path.join(root, dirname, filename)
alltests = load_tests(filename)
estimators = {'dummy': DummyLEDDetector()}
which_tests = expand_string(which_tests0, list(alltests))
which_estimators = expand_string(which_estimators0, list(estimators))
logger.info(' tests: %r |-> %s' % (which_tests0, which_tests))
logger.info('estimators: %r |-> %s' % (which_estimators0, which_estimators))
# which tests to execute
for id_test in which_tests:
for id_estimator in which_estimators:
test_results = run_test(id_test, alltests[id_test],
id_estimator, estimators[id_estimator])
def main():
script_name = os.path.basename(sys.argv[0])
args = sys.argv[1:]
if len(args) != 2:
msg = """
Usage:
rosrun led_detection <script> <tests> <algorithms>
where:
<tests> = comma separated list of algorithms. May use "*".
<algorithms> = comma separated list of algorithms. May use "*".
For example, this runs all tests on all algorithms:
rosrun led_detection <script> '*' '*'
The default algorithm is called "baseline", and the tests are invoked using:
rosrun led_detection <script> '*' 'baseline'
"""
msg = msg.replace('<script>', script_name)
logger.error(msg)
sys.exit(2)
which_tests0 = sys.argv[1]
which_estimators0 = sys.argv[2]
root = os.environ['DUCKIETOWN_ROOT']
dirname = 'catkin_ws/src/f23-LED/led_detection/scripts/'
#filename = 'all_tests.yaml'
filename = 'dp45_tests.yaml'
filename = os.path.join(root, dirname, filename)
alltests = load_tests(filename)
estimators = {
'baseline':
LEDDetector(ploteverything=False, verbose=True, plotfinal=False),
'LEDDetector_plots':
LEDDetector(True, True, True)
}
#,'LEDDetector_forloops' : LEDDetector_forloops(True, True, True)}
which_tests = expand_string(which_tests0, list(alltests))
which_estimators = expand_string(which_estimators0, list(estimators))
logger.info(' tests: %r |-> %s' % (which_tests0, which_tests))
logger.info('estimators: %r |-> %s' %
(which_estimators0, which_estimators))
# which tests to execute
test_results = {}
for id_test in which_tests:
for id_estimator in which_estimators:
result = run_test(id_test, alltests[id_test], id_estimator,
estimators[id_estimator])
test_results[(id_test, id_estimator)] = result
nfailed = list(test_results.values()).count(False)
if not nfailed:
logger.info('All tests passed')
else:
which = [k for k, v in test_results.items() if not v]
logger.error('These tests failed: %s ' % which)
sys.exit(3)
def main():
script_name = os.path.basename(sys.argv[0])
args = sys.argv[1:]
if len(args) != 2:
msg = """
Usage:
rosrun led_detection <script> <tests> <algorithms>
where:
<tests> = comma separated list of algorithms. May use "*".
<algorithms> = comma separated list of algorithms. May use "*".
For example, this runs all tests on all algorithms:
rosrun led_detection <script> '*' '*'
The default algorithm is called "baseline", and the tests are invoked using:
rosrun led_detection <script> '*' 'baseline'
"""
msg = msg.replace('<script>', script_name)
logger.error(msg)
sys.exit(2)
which_tests0 = sys.argv[1]
which_estimators0 = sys.argv[2]
root = os.environ['DUCKIETOWN_ROOT']
dirname = 'catkin_ws/src/f23-LED/led_detection/scripts/'
filename = 'all_tests.yaml'
filename = os.path.join(root, dirname, filename)
alltests = load_tests(filename)
estimators = { 'baseline' :
LEDDetector(ploteverything=False, verbose=True, plotfinal=False),
'LEDDetector_plots' : LEDDetector(True, True, True)}
#,'LEDDetector_forloops' : LEDDetector_forloops(True, True, True)}
which_tests = expand_string(which_tests0, list(alltests))
which_estimators = expand_string(which_estimators0, list(estimators))
logger.info(' tests: %r |-> %s' % (which_tests0, which_tests))
logger.info('estimators: %r |-> %s' % (which_estimators0, which_estimators))
# which tests to execute
test_results = {}
for id_test in which_tests:
for id_estimator in which_estimators:
result = run_test(id_test, alltests[id_test], id_estimator, estimators[id_estimator])
test_results[(id_test, id_estimator)] = result
nfailed = list(test_results.values()).count(False)
if not nfailed:
logger.info('All tests passed')
else:
which = [k for k, v in test_results.items() if not v]
logger.error('These tests failed: %s ' % which)
sys.exit(3)
