vijay4313 / human-detection

Human Obstruction detector for ENPM808 Midterm project

Testing Human Detection Algorithm with GMock

Overview

Obstacle/Human detection plays a vital role in field of robotics. Specifically, in the field of autonomous driving, the ability to accurately detect and track humans presents a major barrier to the large scale deployment of service robots in populated environments. This project aims to implement a robust human obstacle detection framework, utilizing 2D LiDAR data and sophisticated object detection algorithms on C++ platform. Additionally, this branch, aims at incorporating GMock library for robust testing of the implementation.

Dependencies

• cmake
• gtest
• gmock

Standard install via command-line

git clone -b GMock_Extra_Credit --single-branch https://github.com/vijay4313/human-detection
cd <path to repository>
mkdir build
cd build
cmake ..
make
Run tests: ./test/cpp-test
Run program: ./app/shell-app

GMock Testing Framework

A virtual dataHandler class, used for import/manipulate LiDAR scan data, is created for the GMock testing. The virtual methods are utilized by the objectDetector class to run classfication algorithms on the LiDAR scans. The dataHandlerMock.h file consists all the necessary initiations for virtual class. the virtual class is used by the objectDetectorTest.cpp to verify function calls to the virtual dataHandler class from the objectDetector class.

For more details on GMock, click here.

Building for code coverage

sudo apt-get install lcov
cmake -D COVERAGE=ON -D CMAKE_BUILD_TYPE=Debug ../
make
make code_coverage

This generates a index.html page in the build/coverage sub-directory that can be viewed locally in a web browser.

Working with Eclipse IDE

Installation

In your Eclipse workspace directory (or create a new one), checkout the repo (and submodules)

mkdir -p ~/workspace
cd ~/workspace
git clone --recursive https://github.com/vijay4313/human-detection

In your work directory, use cmake to create an Eclipse project for an [out-of-source build] of cpp-boilerplate

cd ~/workspace
mkdir -p boilerplate-eclipse
cd boilerplate-eclipse
cmake -G "Eclipse CDT4 - Unix Makefiles" -D CMAKE_BUILD_TYPE=Debug -D CMAKE_ECLIPSE_VERSION=4.7.0 -D CMAKE_CXX_COMPILER_ARG1=-std=c++14 ../Project/

Import

Open Eclipse, go to File -> Import -> General -> Existing Projects into Workspace -> Select "boilerplate-eclipse" directory created previously as root directory -> Finish

Edit

Source files may be edited under the "[Source Directory]" label in the Project Explorer.

Build

To build the project, in Eclipse, unfold boilerplate-eclipse project in Project Explorer, unfold Build Targets, double click on "all" to build all projects.

Run

1. In Eclipse, right click on the boilerplate-eclipse in Project Explorer, select Run As -> Local C/C++ Application

2. Choose the binaries to run (e.g. shell-app, cpp-test for unit testing)