add tests

.github/workflows/cmake-multi-platform.yml

@@ -70,6 +70,7 @@ jobs:
         -D CMAKE_C_COMPILER=${{ matrix.c_compiler }}
         -D CMAKE_BUILD_TYPE=${{ matrix.build_type }}
         -D BUILD_SHARED_LIBS=${{ matrix.shared_libs }}
+        -D BUILD_TESTING=ON
         -S ${{ github.workspace }}
 
     - name: Build
@@ -83,6 +84,13 @@ jobs:
       if: matrix.os != 'windows-latest'
       run: sudo cmake --build ${{ steps.strings.outputs.build-output-dir }} --config ${{ matrix.build_type }} --target install
 
+    - name: add DLL to test folder
+      if: matrix.os == 'windows-latest'
+      working-directory: ${{ steps.strings.outputs.build-output-dir }}
+      run: |
+        cp *apriltag.dll test/
+
     - name: Test
       working-directory: ${{ steps.strings.outputs.build-output-dir }}
-      run: ctest --build-config ${{ matrix.build_type }}
+      run: |
+        ctest --build-config ${{ matrix.build_type }} --no-tests=error --output-on-failure --verbose --test-dir test/

CMakeLists.txt

@@ -80,6 +80,8 @@ endif()
 
 set_target_properties(${PROJECT_NAME} PROPERTIES SOVERSION 3 VERSION ${PROJECT_VERSION})
 set_target_properties(${PROJECT_NAME} PROPERTIES DEBUG_POSTFIX "d")
+set_property(TARGET ${PROJECT_NAME} PROPERTY C_STANDARD 99)
+
 
 include(GNUInstallDirs)
 target_include_directories(${PROJECT_NAME} PUBLIC
@@ -211,3 +213,7 @@ if (BUILD_EXAMPLES)
     # install example programs
     install(TARGETS apriltag_demo RUNTIME DESTINATION bin)
 endif()
+
+if(BUILD_TESTING)
+    add_subdirectory(test)
+endif()

test/CMakeLists.txt

@@ -0,0 +1,20 @@
+enable_testing()
+
+add_library(getline OBJECT getline.c)
+
+add_executable(test_detection test_detection.c)
+target_link_libraries(test_detection ${PROJECT_NAME} getline)
+
+# test images with true detection
+set(TEST_IMAGE_NAMES
+    "33369213973_9d9bb4cc96_c"
+    "34085369442_304b6bafd9_c"
+    "34139872896_defdb2f8d9_c"
+)
+
+foreach(IMG IN LISTS TEST_IMAGE_NAMES)
+    add_test(NAME test_detection_${IMG}
+             COMMAND $<TARGET_FILE:test_detection> data/${IMG}
+             WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+    )
+endforeach()

test/data/33369213973_9d9bb4cc96_c.txt

@@ -0,0 +1,9 @@
+0, 0, (277.8802 327.5163), (250.1780 329.6940), (251.7135 357.2946), (279.7680 354.8845)
+1, 0, (571.4235 361.6797), (543.6642 364.9229), (544.4681 395.1039), (572.3226 391.6599)
+2, 0, (760.7551 428.9775), (726.5153 428.5690), (727.0422 461.5150), (761.2695 462.2295)
+3, 0, (512.2699 371.3797), (511.7118 342.6652), (485.4774 344.9952), (486.1231 374.7085)
+4, 0, (640.0231 425.9307), (640.9352 458.5056), (669.8774 462.4900), (669.6273 429.5844)
+5, 0, (353.0279 346.9656), (329.3977 344.6678), (330.0048 372.9047), (354.1879 375.4345)
+6, 0, (465.4157 341.5291), (466.7475 370.4995), (480.0401 375.3805), (479.3255 346.8523)
+7, 0, (448.3790 335.3048), (421.9637 338.3846), (422.9550 366.6558), (449.2383 363.5178)
+8, 0, (414.5614 338.8829), (403.2398 333.4245), (404.6997 361.6877), (415.0851 366.5417)

test/data/34085369442_304b6bafd9_c.txt

@@ -0,0 +1,18 @@
+0, 0, (712.8496 321.3379), (695.6104 319.2373), (695.0875 337.7314), (711.6552 339.5857)
+1, 0, (137.1803 350.0015), (137.0391 331.3253), (119.5017 332.1772), (119.3629 350.9057)
+2, 0, (400.1603 282.9774), (400.0085 299.7743), (416.9421 299.6274), (416.6747 283.0110)
+3, 0, (733.9197 326.1527), (751.1302 325.8460), (751.3755 307.5261), (733.9084 307.7999)
+4, 0, (416.5878 352.7041), (431.3354 354.3437), (431.1941 335.7852), (416.3476 334.0768)
+5, 0, (472.2987 271.9427), (472.0169 288.8806), (484.8894 287.0572), (485.0777 270.9519)
+6, 0, (318.5974 389.4719), (300.7015 391.3979), (300.9274 411.2381), (318.8591 409.5875)
+7, 0, (311.2344 343.5884), (328.5275 343.2667), (328.5633 324.8743), (310.5821 324.8871)
+8, 0, (136.6730 406.5262), (136.3904 386.6153), (118.5666 385.0555), (118.4830 405.8007)
+9, 0, (677.7889 302.6428), (677.6320 285.3052), (666.0012 282.7271), (665.6072 300.6304)
+10, 0, (467.2973 288.1754), (467.2424 271.4062), (457.5093 269.1866), (457.6929 286.1717)
+11, 0, (543.4706 350.8587), (543.2719 333.1554), (525.7717 331.5527), (525.3212 350.7736)
+12, 0, (49.6552 357.7258), (63.3771 355.7744), (63.1037 337.2454), (49.7023 338.9751)
+13, 0, (215.9719 413.1197), (235.2605 413.4054), (236.1417 393.1873), (216.0083 392.9312)
+14, 0, (615.2866 276.6579), (615.1252 293.3296), (629.6708 292.3475), (631.6648 274.3273)
+15, 0, (357.4018 346.3447), (373.2110 347.5034), (373.4671 329.2181), (357.1758 328.1275)
+16, 0, (55.9971 395.5411), (75.6599 395.5399), (76.0009 375.6914), (56.1971 375.6695)
+17, 0, (214.3428 345.1931), (230.8877 343.9739), (231.1031 325.5886), (214.2705 326.9748)

test/data/34139872896_defdb2f8d9_c.txt

@@ -0,0 +1,7 @@
+0, 0, (450.7940 281.6134), (445.1442 246.4043), (403.9372 242.6193), (409.3882 277.7529)
+1, 0, (751.6141 416.2980), (708.4382 420.6972), (709.8007 466.8162), (753.4771 462.5127)
+2, 0, (422.5576 450.2083), (421.3539 405.6422), (376.8648 407.7634), (378.0238 452.7328)
+3, 0, (329.0142 399.5628), (285.4985 402.8493), (286.6385 446.9015), (330.8413 443.2896)
+4, 0, (585.3918 383.6006), (587.3239 427.6843), (608.2718 435.5553), (606.5024 391.1288)
+5, 0, (695.4645 419.9278), (676.2806 411.6397), (677.7034 456.7264), (697.6416 466.1422)
+6, 0, (658.1703 429.9575), (657.1567 385.4371), (616.7877 389.5853), (618.0186 434.5197)

test/data/README.md

@@ -0,0 +1,6 @@
+Test image from NASA Swarmathon competition at KSC. Licenced under "CC BY-SA 2.0 DEED".
+
+Sources:
+- https://www.flickr.com/photos/nasakennedy/33369213973/
+- https://www.flickr.com/photos/nasakennedy/34085369442/
+- https://www.flickr.com/photos/nasakennedy/34139872896/

test/getline.c

@@ -0,0 +1,55 @@
+#include "getline.h"
+#include <errno.h>
+#include <stdlib.h>
+
+// https://stackoverflow.com/a/47229318/8144672
+/* The original code is public domain -- Will Hartung 4/9/09 */
+/* Modifications, public domain as well, by Antti Haapala, 11/10/17 - Switched to getc on 5/23/19 */
+
+ssize_t getline(char **lineptr, size_t *n, FILE *stream) {
+    size_t pos;
+    int c;
+
+    if (lineptr == NULL || stream == NULL || n == NULL) {
+        errno = EINVAL;
+        return -1;
+    }
+
+    c = getc(stream);
+    if (c == EOF) {
+        return -1;
+    }
+
+    if (*lineptr == NULL) {
+        *lineptr = malloc(128);
+        if (*lineptr == NULL) {
+            return -1;
+        }
+        *n = 128;
+    }
+
+    pos = 0;
+    while(c != EOF) {
+        if (pos + 1 >= *n) {
+            size_t new_size = *n + (*n >> 2);
+            if (new_size < 128) {
+                new_size = 128;
+            }
+            char *new_ptr = realloc(*lineptr, new_size);
+            if (new_ptr == NULL) {
+                return -1;
+            }
+            *n = new_size;
+            *lineptr = new_ptr;
+        }
+
+        ((unsigned char *)(*lineptr))[pos ++] = c;
+        if (c == '\n') {
+            break;
+        }
+        c = getc(stream);
+    }
+
+    (*lineptr)[pos] = '\0';
+    return pos;
+}

test/getline.h

@@ -0,0 +1,9 @@
+#pragma once
+
+#include <stddef.h>
+#include <stdio.h>
+#include <stdint.h>
+
+typedef intptr_t ssize_t;
+
+ssize_t getline(char **lineptr, size_t *n, FILE *stream);

test/test_detection.c

@@ -0,0 +1,134 @@
+#include <stdarg.h>
+#include <apriltag.h>
+#include <tag36h11.h>
+#include <common/pjpeg.h>
+
+#include "getline.h"
+
+
+char*
+format(const char* fmt, ...)
+{
+    va_list args1;
+    va_list args2;
+
+    va_start(args1, fmt);
+    va_copy(args2, args1);
+
+    const int N = vsnprintf(NULL, 0, fmt, args1);
+    va_end(args1);
+
+    if (N < 0) {
+        va_end(args2);
+        return NULL;
+    }
+
+    char* res_fmt = calloc(N+1, sizeof(char));
+    const int n = vsnprintf(res_fmt, N+1, fmt, args2);
+    va_end(args2);
+
+    if (n != N) {
+        free(res_fmt);
+        return NULL;
+    }
+
+    // caller has to free returned string
+    return res_fmt;
+}
+
+int
+detection_corner_compare_function(const void *_a, const void *_b)
+{
+    apriltag_detection_t *a = *(apriltag_detection_t**) _a;
+    apriltag_detection_t *b = *(apriltag_detection_t**) _b;
+
+    return memcmp(a->p, b->p, sizeof(a));
+}
+
+int
+main(int argc, char *argv[])
+{
+    if (argc!=2) {
+        return EXIT_FAILURE;
+    }
+
+    // load image
+    char* const path_img = format("%s.jpg", argv[1]);
+    pjpeg_t *pjpeg = pjpeg_create_from_file(path_img, 0, NULL);
+    image_u8_t *im = pjpeg_to_u8_baseline(pjpeg);
+    free(path_img);
+
+    // load true detection
+    char* const path_det_true = format("%s.txt", argv[1]);
+    FILE *fp = fopen(path_det_true, "r");
+    if (fp == NULL) {
+        return EXIT_FAILURE;
+    }
+    free(path_det_true);
+
+    apriltag_detector_t *td = apriltag_detector_create();
+    apriltag_family_t *tf = tag36h11_create();
+    apriltag_detector_add_family(td, tf);
+
+    const char fmt[] = "%i, %i, (%.4lf %.4lf), (%.4lf %.4lf), (%.4lf %.4lf), (%.4lf %.4lf)";
+
+    bool ok = true;
+
+    zarray_t *detections = apriltag_detector_detect(td, im);
+
+    // sort detections by detected corners for deterministic sorting order
+    zarray_sort(detections, detection_corner_compare_function);
+
+    int i = 0;
+    for (; i < zarray_size(detections); i++) {
+        apriltag_detection_t *det;
+        zarray_get(detections, i, &det);
+
+        char* const det_fmt = format(fmt,
+            i, det->id,
+            det->p[0][0], det->p[0][1], det->p[1][0], det->p[1][1],
+            det->p[2][0], det->p[2][1], det->p[3][0], det->p[3][1]);
+
+        char* line = NULL;
+        size_t len = 0;
+        const ssize_t nread = getline(&line, &len, fp);
+        if (nread == -1) {
+            free(line);
+            return EXIT_FAILURE;
+        }
+
+        printf("Got:      %s\n", det_fmt);
+        printf("Expected: %s\n", line);
+
+        // compare strings without the newline character (\n)
+        if (strncmp(det_fmt, line, nread-1) != 0) {
+            fprintf(stderr, "Mismatch.\nGot:\n  %s\nExpected:\n  %s\n", det_fmt, line);
+            ok = false;
+        }
+
+        free(det_fmt);
+        free(line);
+    }
+
+    // check that we compared the expected amount of detections
+    // if there are no "true" detections left, we should be at the end of the file
+    // if there are no "detected" detections left, we should be at the end of the array
+    if ((fgetc(fp) != -1) && (i != zarray_size(detections))) {
+        return EXIT_FAILURE;
+    }
+
+    fclose(fp);
+
+    apriltag_detections_destroy(detections);
+    image_u8_destroy(im);
+    pjpeg_destroy(pjpeg);
+
+    apriltag_detector_destroy(td);
+    tag36h11_destroy(tf);
+
+    if (!ok) {
+        return EXIT_FAILURE;
+    }
+
+    return EXIT_SUCCESS;
+}