Add 'darknet_ros2/' from commit 'be4fd04c0ea8fbed80b3549283701e16145422c6'

git-subtree-dir: darknet_ros2
git-subtree-mainline: f33742e6e8
git-subtree-split: be4fd04c0e

darknet_ros2/test/data/1_class_name.txt

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+tomato

darknet_ros2/test/data/3_class_names_with_whitespace.txt

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+
+
+
+foo
+
+
+bar
+
+
+baz

darknet_ros2/test/data/5_class_names.txt

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+car
+boat
+bus
+airplane
+space ship

darknet_ros2/test/test_detector_network.cpp

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+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// 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 <gtest/gtest.h>
+
+#include <string>
+#include <vector>
+
+#include "openrobotics_darknet_ros/detector_network.hpp"
+
+TEST(network, config_does_not_exist)
+{
+  const std::string config = "does_not_exist.cfg";
+  const std::string weights = "does_not_exist.weights";
+  std::vector<std::string> classes{"foo", "bar"};
+
+  try {
+    openrobotics::darknet_ros::DetectorNetwork network(config, weights, classes);
+    ASSERT_TRUE(false);
+  } catch (const std::invalid_argument &) {
+  }
+}

darknet_ros2/test/test_parser.cpp

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+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// 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 <gtest/gtest.h>
+
+#include <string>
+#include <vector>
+
+#include "openrobotics_darknet_ros/parse.hpp"
+
+using openrobotics::darknet_ros::parse_class_names;
+
+TEST(parse, names_file_does_not_exist)
+{
+  std::vector<std::string> class_names;
+
+  class_names = parse_class_names("openrobotics_darknet_ros_file_does_not_exist");
+
+  ASSERT_EQ(0u, class_names.size());
+}
+
+TEST(parse, one_name)
+{
+  std::vector<std::string> class_names;
+
+  class_names = parse_class_names("data/1_class_name.txt");
+
+  ASSERT_EQ(1u, class_names.size());
+  EXPECT_EQ("tomato", class_names[0]);
+}
+
+TEST(parse, 3_class_names_with_whitespace)
+{
+  std::vector<std::string> class_names;
+
+  class_names = parse_class_names("data/3_class_names_with_whitespace.txt");
+
+  ASSERT_EQ(3u, class_names.size());
+  EXPECT_EQ("foo", class_names[0]);
+  EXPECT_EQ("bar", class_names[1]);
+  EXPECT_EQ("baz", class_names[2]);
+}
+
+TEST(parse, five_names)
+{
+  std::vector<std::string> class_names;
+
+  class_names = parse_class_names("data/5_class_names.txt");
+
+  ASSERT_EQ(5u, class_names.size());
+  EXPECT_EQ("car", class_names[0]);
+  EXPECT_EQ("boat", class_names[1]);
+  EXPECT_EQ("bus", class_names[2]);
+  EXPECT_EQ("airplane", class_names[3]);
+  EXPECT_EQ("space ship", class_names[4]);
+}