devcontainer: Add debug target for gtest

.devcontainer/devcontainer.json

@@ -3,7 +3,7 @@
     "customizations": {
         "vscode": {
             "extensions": [
-                "ms-python.python"
+                "ms-vscode.cpptools"
             ],
             "settings": {
                 "files.hotExit": "off",

.devcontainer/devcontainer_all_packages.sh

@@ -11,6 +11,7 @@ main() {
         ccache
         cmake
         curl
+        gdb
         gfortran
         git
         gnupg

.vscode/launch.json

@@ -0,0 +1,26 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Debug test_depth_anything_v2",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "${workspaceFolder}/build/devel/lib/usb_cam/test_depth_anything_v2",
+            "cwd": "${workspaceFolder}",
+            "environment": [],
+            "externalConsole": false,
+            "MIMode": "gdb",  // Use gdb for debugging
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                }
+            ],
+            "miDebuggerPath": "/usr/bin/gdb"
+        }
+    ]
+}

CMakeLists.txt

@@ -114,6 +114,7 @@ target_include_directories(${PROJECT_NAME}_node PUBLIC
 # Testing
 if(BUILD_TESTING)
   # Find GTest package
+  set(CMAKE_BUILD_TYPE Debug)
   find_package(GTest REQUIRED)
   include_directories(${GTEST_INCLUDE_DIRS})
 

include/usb_cam/learning/depth_anything_v2.hpp

@@ -47,4 +47,4 @@ class DepthAnythingV2 : public LearningInterface {
     cv::Size _INPUT_SIZE;
 };
 
-#endif // DEPTH_ANYTHING_HPP_
+#endif // DEPTH_ANYTHING_HPP_

src/interface.cpp

@@ -100,7 +100,4 @@ LearningInterface::~LearningInterface() {
     cudaFree(_stream);
     cudaFree(_buffers[0]);
     cudaFree(_buffers[1]);
-
-    delete[] _input_data;
-    delete[] _output_data;
-}
+}

src/usb_cam_node.cpp

@@ -180,7 +180,7 @@ class UsbCamNode {
         // Run all the networks
         for (const auto& net : networks) {
             net->set_input(m_image);
-            if (net->run_inference(1)) {
+            if (net->predict()) {
                 net->publish();
             }
         }

test/test_depth_anything_v2.cpp

@@ -57,3 +57,7 @@ TEST_F(TestDepthAnythingV2, TestSetInput) {
     ASSERT_NE(input_data, nullptr);
     ASSERT_FLOAT_EQ(input_data[0], img.at<cv::Vec3b>(0, 0)[0] / 255.0f);
 }
+
+TEST_F(TestDepthAnythingV2, TestPredict) {
+    depth_anything_v2->predict();
+}