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Merge pull request #54 from NVIDIA-ISAAC-ROS/release-3.2
Isaac ROS 3.2
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@@ -21,7 +21,7 @@ | |
| <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?> | ||
| <package format="3"> | ||
| <name>isaac_ros_centerpose</name> | ||
| <version>3.1.0</version> | ||
| <version>3.2.0</version> | ||
| <description>CenterPose: Pose Estimation using Deep Learning</description> | ||
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| <maintainer email="[email protected]">Isaac ROS Maintainers</maintainer> | ||
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@@ -63,6 +63,7 @@ | |
| <test_depend>ament_lint_common</test_depend> | ||
| <test_depend>isaac_ros_test</test_depend> | ||
| <test_depend>sensor_msgs_py</test_depend> | ||
| <test_depend>ament_cmake_gtest</test_depend> | ||
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|
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| <export> | ||
| <build_type>ament_cmake</build_type> | ||
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isaac_ros_centerpose/test/centerpose_decoder_node_test.cpp
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| // SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES | ||
| // Copyright (c) 2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved. | ||
| // | ||
| // 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. | ||
| // | ||
| // SPDX-License-Identifier: Apache-2.0 | ||
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| #include <gmock/gmock.h> | ||
| #include "centerpose_decoder_node.hpp" | ||
| #include "rclcpp/rclcpp.hpp" | ||
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| // Objective: to cover code lines where exceptions are thrown | ||
| // Approach: send Invalid Arguments for node parameters to trigger the exception | ||
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| TEST(centerpose_decoder_node_test, test_invalid_output_field_size) | ||
| { | ||
| rclcpp::init(0, nullptr); | ||
| rclcpp::NodeOptions options; | ||
| EXPECT_THROW( | ||
| { | ||
| try { | ||
| nvidia::isaac_ros::centerpose::CenterPoseDecoderNode centerpose_decoder_node(options); | ||
| } catch (const std::invalid_argument & e) { | ||
| EXPECT_THAT(e.what(), testing::HasSubstr("Error: received invalid output field size")); | ||
| throw; | ||
| } catch (const rclcpp::exceptions::InvalidParameterValueException & e) { | ||
| EXPECT_THAT(e.what(), testing::HasSubstr("No parameter value set")); | ||
| throw; | ||
| } | ||
| }, std::invalid_argument); | ||
| rclcpp::shutdown(); | ||
| } | ||
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| TEST(centerpose_decoder_node_test, test_cuboid_scaling_factor) | ||
| { | ||
| rclcpp::init(0, nullptr); | ||
| rclcpp::NodeOptions options; | ||
| options.append_parameter_override("output_field_size", std::vector<int64_t>{128, 128}); | ||
| options.append_parameter_override("cuboid_scaling_factor", 0.0); | ||
| EXPECT_THROW( | ||
| { | ||
| try { | ||
| nvidia::isaac_ros::centerpose::CenterPoseDecoderNode centerpose_decoder_node(options); | ||
| } catch (const std::invalid_argument & e) { | ||
| EXPECT_THAT( | ||
| e.what(), | ||
| testing::HasSubstr("Error: received a less than or equal to zero cuboid scaling factor")); | ||
| throw; | ||
| } catch (const rclcpp::exceptions::InvalidParameterValueException & e) { | ||
| EXPECT_THAT(e.what(), testing::HasSubstr("No parameter value set")); | ||
| throw; | ||
| } | ||
| }, std::invalid_argument); | ||
| rclcpp::shutdown(); | ||
| } | ||
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| TEST(centerpose_decoder_node_test, test_score_threshold) | ||
| { | ||
| rclcpp::init(0, nullptr); | ||
| rclcpp::NodeOptions options; | ||
| options.append_parameter_override("output_field_size", std::vector<int64_t>{128, 128}); | ||
| options.append_parameter_override("cuboid_scaling_factor", 1.0); | ||
| options.append_parameter_override("score_threshold", 1.0); | ||
| EXPECT_THROW( | ||
| { | ||
| try { | ||
| nvidia::isaac_ros::centerpose::CenterPoseDecoderNode centerpose_decoder_node(options); | ||
| } catch (const std::invalid_argument & e) { | ||
| EXPECT_THAT( | ||
| e.what(), | ||
| testing::HasSubstr("Error: received score threshold greater or equal to 1.0")); | ||
| throw; | ||
| } catch (const rclcpp::exceptions::InvalidParameterValueException & e) { | ||
| EXPECT_THAT(e.what(), testing::HasSubstr("No parameter value set")); | ||
| throw; | ||
| } | ||
| }, std::invalid_argument); | ||
| rclcpp::shutdown(); | ||
| } | ||
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| int main(int argc, char ** argv) | ||
| { | ||
| testing::InitGoogleTest(&argc, argv); | ||
| return RUN_ALL_TESTS(); | ||
| } |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,30 @@ | ||
| %YAML 1.2 | ||
| # Copyright (c) 2024, NVIDIA CORPORATION. All rights reserved. | ||
| # | ||
| # NVIDIA CORPORATION and its licensors retain all intellectual property | ||
| # and proprietary rights in and to this software, related documentation | ||
| # and any modifications thereto. Any use, reproduction, disclosure or | ||
| # distribution of this software and related documentation without an express | ||
| # license agreement from NVIDIA CORPORATION is strictly prohibited. | ||
| --- | ||
| id: [0xb9a27f9a9c9b3c40, 0xf7620fa5914c9644] | ||
| name: DopeDecoder | ||
| version: 1.0.0 | ||
| components: | ||
| - id: [0x03022c23f899e397, 0xaf817e602e657ba6] | ||
| type: nvidia::isaac_ros::dope::DopeDecoder | ||
| input_output_groups: | ||
| - input_keys: [tensorlist_receiver, camera_model_input] | ||
| output_keys: [detection3darray_transmitter] | ||
| input_format_keys: [] | ||
| output_format_keys: [] | ||
| supported_formats: | ||
| - platforms: [any] | ||
| details: | ||
| - input_formats: [nitros_tensor_list_nchw_rgb_f32, nitros_camera_info] | ||
| output_formats: [nitros_detection3_d_array] | ||
| costs: | ||
| throughput: 10bytes/s | ||
| latency: 10ms | ||
| power: 100J | ||
| accuracy: 100% |
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