set (unit_tests_sources
unit-tests-common.cpp
unit-tests-live.cpp
unit-tests-regressions.cpp
unit-tests-post-processing.cpp
unit-tests-post-processing.h
unit-tests-main.cpp
unit-tests-common.h
unit-tests-post-processing-from-bag.cpp
unit-test-long.cpp
catch.h
approx.h
)
add_executable(live-test ${unit_tests_sources})
set_property(TARGET live-test PROPERTY CXX_STANDARD 11)
target_link_libraries(live-test ${DEPENDENCIES} Threads::Threads Catch2WithMain )
set_target_properties (live-test PROPERTIES
FOLDER "Unit-Tests"
)
install(
TARGETS
live-test
RUNTIME DESTINATION
${CMAKE_INSTALL_PREFIX}/bin
)
if(TESTDATA_LOCATION)
set(Deployment_Location ${TESTDATA_LOCATION})
else()
#Windows OS will host the files under %TEMP% location
#Unix-like machines will host the tests files under /tmp/ directory
if (WIN32)
set(Deployment_Location "$ENV{TEMP}\\")
else() # Data shall be preserved between reboots. For Linux distributions/ ANDROID_NDK_TOOLCHAIN_INCLUDED/APPLE
#set(Deployment_Location /var/tmp/) The standard configuration currently fails on CI
set(Deployment_Location /tmp/)
endif()
endif()
add_custom_command(TARGET live-test POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_directory
${CMAKE_CURRENT_SOURCE_DIR}/resources
${Deployment_Location}
)
# copy wheel odometry calibration file to build folder
add_custom_command(TARGET live-test POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy
${CMAKE_CURRENT_SOURCE_DIR}/resources/calibration_odometry.json
${CMAKE_CURRENT_BINARY_DIR}/calibration_odometry.json
)
#Post-Processing data set for unit-tests
#message(STATUS "Post processing deployment directory=${Deployment_Location}")
list(APPEND PP_Tests_List 1551257764229 # D415_DS(2)
1551257812956 # D415_DS(3)
1551257880762 # D415_DS(2)_HoleFill(0)
1551257882796 # D415_DS(2)_HoleFill(1)
1551257884097 # D435_DS(2)_HoleFill(2)
1551257987255 # D435_DS(2)+Spat(A:0.85/D:32/I:3)
1551259481873 # D435_DS(2)+Spat(A:0.5/D:15/I:2)
1551261946511 # D435_DS(2)+Temp(A:0.25/D:15/P:0)
1551262153516 # D435_DS(2)+Temp(A:0.45/D:25/P:1)
1551262256875 # D435_DS(2)+Temp(A:0.5/D:30/P:4)
1551262841203 # D435_DS(2)+Temp(A:0.5/D:30/P:6)
1551262772964 # D435_DS(2)+Temp(A:0.5/D:30/P:8)
1551262971309 # D435_DS(2)_Spat(A:0.7/D:25/I:2)_Temp(A:0.6/D:15/P:6)
1551263177558) # D435_DS(2)_Spat(A:0.7/D:25/I:2)_Temp(A:0.6/D:15/P:6))_HoleFill(1)
# For each post-processing test pattern the following files shall be present
list(APPEND PP_Test_extensions_List .Input.raw .Input.csv .Output.raw .Output.csv)
set_property(GLOBAL PROPERTY sequence_extensions_list)
function(produce_sequence_extensions source target)
# Check if metadata file exist, and download if needed
if(NOT EXISTS "${target}")
file(DOWNLOAD "${source}" "${target}" LOG log STATUS status TIMEOUT 300) # SHOW_PROGRESS
list(GET status 0 op_return_value)
if (NOT op_return_value MATCHES "0")
list(GET status 1 description)
message(STATUS "Operation failed: opcode= ${status}")
message(STATUS "Log: opcode= ${log}")
endif()
endif()
FILE(READ "${target}" contents)
# Convert file contents into a CMake list
set(sequence_length 1)
STRING(REGEX REPLACE ";" "\\\\;" contents "${contents}")
STRING(REGEX REPLACE "\n" ";" contents "${contents}")
foreach(i ${contents})
if ("${i}" MATCHES "^Frames sequence length")
string(REPLACE "," ";" line ${i})
# use of unsubstituted variables is requred
set(my_seq ${line})
list(GET my_seq 1 result)
if (result MATCHES "^[0-9]+$")
set(sequence_length ${result})
endif()
endif()
endforeach()
set(index 0)
#Reset the list of appendexes
set(PP_Test_Sequence_Index_List)
while (${index} LESS ${sequence_length} )
list(APPEND PP_Test_Sequence_Index_List .${index})
MATH(EXPR index "${index} + 1")
endwhile()
get_property(local_list GLOBAL PROPERTY sequence_extensions_list)
set(local_list ${PP_Test_Sequence_Index_List})
set_property(GLOBAL PROPERTY sequence_extensions_list "${local_list}")
endfunction()
set(PP_TESTS_URL https://librealsense.intel.com/rs-tests/post_processing_tests_2018_ww18/)
message(STATUS "Preparing to download Post-processing tests dataset...\nRemote server: ${PP_TESTS_URL}\nTarget Location: ${Deployment_Location}\n")
foreach(i ${PP_Tests_List})
set(Test_Pattern ${i})
#Download and parse the output metafile to retrieve the number of snapshots in sequence
set(sequence_meta_file "${Test_Pattern}.0.Output.csv")
set(source ${PP_TESTS_URL}${sequence_meta_file})
set(destination ${Deployment_Location}${sequence_meta_file})
produce_sequence_extensions(${source} ${destination})
# Copy the assigned variables to local variable
get_property(PP_Test_Sequence_Index_List GLOBAL PROPERTY sequence_extensions_list)
#Iterate over test pattern extension to download the test files.
foreach(ext ${PP_Test_extensions_List})
#Each test comprise of a sequence of frame indexed according to the following
foreach(idx ${PP_Test_Sequence_Index_List})
# Calculate the target full path name for deployment
set(Test_File_Name "${Test_Pattern}${idx}${ext}")
set(source ${PP_TESTS_URL}${Test_File_Name})
set(destination ${Deployment_Location}${Test_File_Name})
set (empty FALSE)
is_file_empty(empty, ${destination} )
#message(STATUS "Checked " ${empty} " for " ${Test_File_Name} " in " ${destination})
if(NOT EXISTS "${destination}" OR ${empty})
message(STATUS "Downloading ${source}")
file(DOWNLOAD "${source}" "${destination}" LOG log STATUS status TIMEOUT 300) # SHOW_PROGRESS LOG log STATUS status
list(GET status 0 op_return_value)
if (NOT op_return_value MATCHES "0")
list(GET status 1 description)
message(STATUS "Operation failed: opcode= ${status}")
message(STATUS "Log: opcode= ${log}")
endif()
endif()
endforeach(idx)
endforeach(ext)
endforeach(i)
list(APPEND PP_Rosbag_Recordings_List
[aligned_2c]_all_combinations_depth_color.bag
[aligned_2d]_all_combinations_depth_color.bag
all_combinations_depth_color.bag
[pointcloud]_all_combinations_depth_color.bag
single_depth_color_640x480.bag
D435i_Depth_and_IMU.bag
)
set(PP_Rosbag_Recordings_URL https://librealsense.intel.com/rs-tests/Rosbag_unit_test_records)
foreach(i ${PP_Rosbag_Recordings_List})
dl_file( ${PP_Rosbag_Recordings_URL} ${Deployment_Location} ${i} OFF )
endforeach(i)