[perception] (1) update 'dev_start.sh' with docker image...

[perception] (1) update 'dev_start.sh' with docker image 'dev-x86_64-20170801_1351'; (2) add unit test for CNNSegmentation.

docker/scripts/dev_start.sh

@@ -18,7 +18,7 @@
 
 VERSION=""
 ARCH=$(uname -m)
-VERSION_X86_64="dev-x86_64-20170731_1713"
+VERSION_X86_64="dev-x86_64-20170801_1351"
 VERSION_AARCH64="dev-aarch64-20170712_1533"
 if [[ $# == 1 ]];then
     VERSION=$1

modules/perception/obstacle/lidar/segmentation/cnnseg/BUILD

@@ -58,4 +58,26 @@ cc_library(
     ],
 )
 
+cc_test(
+    name = "cnnseg_test",
+    size = "small",
+    srcs = [
+        "cnnseg_test.cc",
+    ],
+    data = [
+        "//modules/perception:perception_data",
+        "//modules/perception/conf:perception_config",
+        "//modules/perception:perception_model",
+    ],
+    deps = [
+        "@gtest//:main",
+        "@pcl//:pcl",
+        "@opencv2//:core",
+        "//modules/common:log",
+        "//modules/perception/lib/pcl_util",
+        "//modules/perception/obstacle/base:perception_obstacle_base",
+        "perception_obstacle_lidar_segmention_cnnseg",
+    ],
+)
+
 cpplint()
\ No newline at end of file

modules/perception/obstacle/lidar/segmentation/cnnseg/cnnseg_test.cc

+/******************************************************************************
+ * Copyright 2017 The Apollo Authors. 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.
+ *****************************************************************************/
+
+#include <memory>
+#include <gtest/gtest.h>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+#include <pcl/io/pcd_io.h>
+
+#include "modules/common/log.h"
+#include "modules/perception/lib/pcl_util/pcl_types.h"
+#include "modules/perception/obstacle/lidar/segmentation/cnnseg/cnn_segmentation.h"
+
+#define VISUALIZE
+#define POINT_CLOUD_FILE "modules/perception/data/cnnseg_test/uscar_12_1470770225_1470770492_1349.pcd"
+
+namespace apollo {
+namespace perception {
+
+class CNNSegmentationTest : public testing::Test {
+ protected:
+  CNNSegmentationTest() {}
+  ~CNNSegmentationTest() {}
+  void SetUp() {
+    cnn_segmentor_.reset(new CNNSegmentation());
+  }
+  void TearDown() {}
+
+ protected:
+  std::shared_ptr<CNNSegmentation> cnn_segmentor_;
+};
+
+bool GetPointCloudFromFile(const std::string& pcd_file,
+                           pcl_util::PointCloudPtr cloud) {
+  pcl::PointCloud<pcl_util::PointXYZIT> ori_cloud;
+  if (pcl::io::loadPCDFile(pcd_file, ori_cloud) < 0) {
+    AERROR << "Failed to load pcd file: " << pcd_file;
+    return false;
+  }
+
+  cloud->points.reserve(ori_cloud.points.size());
+  for (size_t i = 0; i < ori_cloud.points.size(); ++i) {
+    pcl_util::Point point;
+    point.x = ori_cloud.points[i].x;
+    point.y = ori_cloud.points[i].y;
+    point.z = ori_cloud.points[i].z;
+    point.intensity = ori_cloud.points[i].intensity;
+    if (isnan(ori_cloud.points[i].x)) {
+      continue;
+    }
+    cloud->push_back(point);
+  }
+
+  return true;
+}
+
+TEST_F(CNNSegmentationTest, test_cnnseg_det) {
+  // generate input point cloud data
+  std::string in_pcd_file(POINT_CLOUD_FILE);
+  pcl_util::PointCloudPtr in_pc;
+  in_pc.reset(new pcl_util::PointCloud());
+  EXPECT_TRUE(GetPointCloudFromFile(in_pcd_file, in_pc));
+
+  pcl_util::PointIndices valid_idx;
+  auto &indices = valid_idx.indices;
+  indices.resize(in_pc->size());
+  std::iota(indices.begin(), indices.end(), 0);
+
+  SegmentationOptions options;
+  options.origin_cloud = in_pc;
+
+  std::vector<ObjectPtr> out_objects;
+
+  // testing initialization function
+  EXPECT_TRUE(cnn_segmentor_->Init());
+
+  // testing segment function
+  EXPECT_TRUE(cnn_segmentor_->Segment(in_pc, valid_idx, options, &out_objects));
+
+  EXPECT_GE(out_objects.size(), 0);
+}
+
+}  // namespace perception
+}  // namespace apollo