Perception: added build for box and object. (#436)

.travis.yml

@@ -7,7 +7,7 @@ os: linux
 env:
     - JOB=lint
     - JOB=cibuild
-    - JOB=test_cpu
+    - JOB=citest
 cache:
   directories:
   - $HOME/.cache/bazel

apollo.sh

@@ -396,6 +396,7 @@ function gen_coverage() {
 }
 
 function run_test() {
+
   generate_build_targets
   if [ "$USE_GPU" == "1" ]; then
     echo -e "${YELLOW}Running tests under GPU mode. GPU is required to run the tests.${NO_COLOR}"
@@ -497,7 +498,7 @@ function citest() {
   bash cybertron.sh build_fast
   cd /apollo
 
-  citest_basic
+  run_test
   if [ $? -eq 0 ]; then
     success 'Test passed!'
     return 0

modules/perception/base/BUILD

@@ -26,4 +26,56 @@ cc_test(
     ],
 )
 
+cc_library(
+    name = "object",
+    hdrs = [
+        "object.h",
+        "object_supplement.h",
+        "object_types.h",
+        "vehicle_struct.h",
+    ],
+    srcs = [
+        "object.cc",
+    ],
+    deps = [
+        ":point_cloud",
+        ":box",
+    ],
+)
+
+cc_test(
+    name = "object_test",
+    size = "small",
+    srcs = [
+        "object_test.cc",
+    ],
+    deps = [
+        ":object",
+        "@gtest//:main",
+    ],
+)
+
+cc_library(
+    name = "box",
+    hdrs = [
+        "box.h",
+        "comparison_traits.h",
+    ],
+    deps = [
+        ":point_cloud",
+    ],
+)
+
+cc_test(
+    name = "box_test",
+    size = "small",
+    srcs = [
+        "box_test.cc",
+    ],
+    deps = [
+        ":box",
+        "@gtest//:main",
+    ],
+)
+
 cpplint()

modules/perception/base/box.h

@@ -13,16 +13,17 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *****************************************************************************/
-#ifndef MODULES_PERCEPTION_BASE_IMAGE_CORE_H_
-#define MODULES_PERCEPTION_BASE_IMAGE_CORE_H_
+#ifndef MODULES_PERCEPTION_BASE_BOX_H_
+#define MODULES_PERCEPTION_BASE_BOX_H_
 
-#include <float.h>
-#include <stdint.h>
 #include <algorithm>
+#include <cfloat>
+#include <cstdint>
 #include <memory>
 #include <sstream>
 #include <string>
 #include <vector>
+
 #include "modules/perception/base/comparison_traits.h"
 #include "modules/perception/base/point.h"
 
@@ -30,9 +31,6 @@ namespace apollo {
 namespace perception {
 namespace base {
 
-template <typename T>
-struct Rect;
-
 template <typename T>
 struct BBox2D;
 
@@ -163,16 +161,8 @@ struct BBox2D {
   T ymax = 0;  // bottom-right
 };
 
-typedef Rect<int> RectI;
-typedef Rect<float> RectF;
-typedef Rect<double> RectD;
-
-typedef BBox2D<int> BBox2DI;
-typedef BBox2D<float> BBox2DF;
-typedef BBox2D<double> BBox2DD;
-
 }  // namespace base
 }  // namespace perception
 }  // namespace apollo
 
-#endif  // MODULES_PERCEPTION_BASE_IMAGE_CORE_H_
+#endif  // MODULES_PERCEPTION_BASE_BOX_H_
\ No newline at end of file

modules/perception/base/test/base_box_test.cc → modules/perception/base/box_test.cc

@@ -13,10 +13,13 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *****************************************************************************/
-#include <gtest/gtest.h>
+
+#include "modules/perception/base/box.h"
+
 #include <limits>
 #include <vector>
-#include "modules/perception/base/box.h"
+
+#include "gtest/gtest.h"
 
 namespace apollo {
 namespace perception {

modules/perception/base/comparison_traits.h

@@ -13,6 +13,7 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *****************************************************************************/
+
 #ifndef MODULES_PERCEPTION_BASE_COMPARISON_TRAITS_H_
 #define MODULES_PERCEPTION_BASE_COMPARISON_TRAITS_H_
 

modules/perception/base/object.cc

@@ -13,6 +13,7 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *****************************************************************************/
+
 #include "modules/perception/base/object.h"
 
 #include <sstream>

modules/perception/base/object.h

@@ -15,11 +15,12 @@
  *****************************************************************************/
 #ifndef MODULES_PERCEPTION_BASE_OBJECT_H_
 #define MODULES_PERCEPTION_BASE_OBJECT_H_
-#include <Eigen/Core>
 
 #include <string>
 #include <vector>
 
+#include "Eigen/Core"
+
 #include "modules/perception/base/object_supplement.h"
 #include "modules/perception/base/object_types.h"
 #include "modules/perception/base/point_cloud_types.h"
@@ -28,6 +29,7 @@
 namespace apollo {
 namespace perception {
 namespace base {
+
 struct alignas(16) Object {
   Object();
   Object(const Object &) = default;
@@ -39,7 +41,7 @@ struct alignas(16) Object {
   int id = -1;
 
   // @brief convex hull of the object, required
-  PolygonDType polygon;
+  PointCloud<PointD> polygon;
 
   // oriented boundingbox information
   // @brief main direction of the object, required
@@ -110,9 +112,6 @@ struct alignas(16) Object {
   FusionObjectSupplement fusion_supplement;
 };
 
-typedef std::shared_ptr<Object> ObjectPtr;
-typedef std::shared_ptr<const Object> ObjectConstPtr;
-
 }  // namespace base
 }  // namespace perception
 }  // namespace apollo

modules/perception/base/object_supplement.h

@@ -15,6 +15,7 @@
  *****************************************************************************/
 #ifndef MODULES_PERCEPTION_BASE_OBJECT_SUPPLEMENT_H_
 #define MODULES_PERCEPTION_BASE_OBJECT_SUPPLEMENT_H_
+
 #include <memory>
 #include <string>
 #include <vector>
@@ -47,9 +48,9 @@ struct alignas(16) LidarObjectSupplement {
   // @brief valid only for on_use = true
   bool on_use = false;
   // @brief cloud of the object in lidar coordinates
-  PointFCloud cloud;
+  base::AttributePointCloud<PointF> cloud;
   // @brief cloud of the object in world coordinates
-  PointDCloud cloud_world;
+  base::AttributePointCloud<PointD> cloud_world;
   // @brief background indicator
   bool is_background = false;
   // @brief false positive indicator
@@ -107,10 +108,10 @@ struct alignas(16) CameraObjectSupplement {
     pts8.clear();
     object_feature.clear();
     alpha = 0.0;
-    box = BBox2DF();
-    projected_box = BBox2DF();
-    front_box = BBox2DF();
-    back_box = BBox2DF();
+    box = BBox2D<float>();
+    projected_box = BBox2D<float>();
+    front_box = BBox2D<float>();
+    back_box = BBox2D<float>();
     local_center = Eigen::Vector3f(0.0f, 0.0f, 0.0f);
     visual_type = VisualObjectType::MAX_OBJECT_TYPE;
     visual_type_probs.resize(
@@ -130,10 +131,10 @@ struct alignas(16) CameraObjectSupplement {
   std::string sensor_name;
 
   // @brief  2d box
-  BBox2DF box;
+  BBox2D<float> box;
 
   // @brief projected 2d box
-  BBox2DF projected_box;
+  BBox2D<float> projected_box;
 
   // @brief local track id
   int local_track_id = -1;
@@ -142,10 +143,10 @@ struct alignas(16) CameraObjectSupplement {
   std::vector<float> pts8;
 
   // @brief front box
-  BBox2DF front_box;
+  BBox2D<float> front_box;
 
   // @brief back box
-  BBox2DF back_box;
+  BBox2D<float> back_box;
   std::vector<float> object_feature;
 
   // @brief alpha angle from KITTI: Observation angle of object, in [-pi..pi]
@@ -191,7 +192,7 @@ struct SensorObjectMeasurement {
     size = Eigen::Vector3f(0, 0, 0);
     velocity = Eigen::Vector3f(0, 0, 0);
     type = ObjectType::UNKNOWN;
-    box = BBox2DF();
+    box = BBox2D<float>();
   }
 
   std::string sensor_id = "unknown_sensor";
@@ -203,7 +204,7 @@ struct SensorObjectMeasurement {
   Eigen::Vector3f velocity = Eigen::Vector3f(0, 0, 0);
   ObjectType type = ObjectType::UNKNOWN;
   // @brief only for camera measurement
-  BBox2DF box;
+  BBox2D<float> box;
 };
 
 struct alignas(16) FusionObjectSupplement {

modules/perception/base/test/base_object_test.cc → modules/perception/base/object_test.cc

@@ -13,10 +13,10 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *****************************************************************************/
-#include <gtest/gtest.h>
-
 #include "modules/perception/base/object.h"
 
+#include "gtest/gtest.h"
+
 namespace apollo {
 namespace perception {
 namespace base {

modules/perception/base/object_types.h

@@ -17,6 +17,7 @@
 #define MODULES_PERCEPTION_BASE_OBJECT_TYPES_H_
 
 #include <map>
+#include <string>
 
 namespace apollo {
 namespace perception {
@@ -93,6 +94,7 @@ enum class VisualLandmarkType {
   TrafficLight,
   MAX_LANDMARK_TYPE,
 };
+
 const std::map<VisualLandmarkType, std::string> kVisualLandmarkType2NameMap = {
     {VisualLandmarkType::RoadArrow, "RoadArrow"},
     {VisualLandmarkType::RoadText, "RoadText"},
@@ -228,4 +230,5 @@ const std::map<std::string, ObjectSubType> kName2SubTypeMap = {
 }  // namespace base
 }  // namespace perception
 }  // namespace apollo
+
 #endif  // MODULES_PERCEPTION_BASE_OBJECT_TYPES_H_

modules/perception/base/vehicle_struct.h

@@ -15,9 +15,11 @@
  *****************************************************************************/
 #ifndef MODULES_PERCEPTION_BASE_VEHICLE_STRUCT_H_
 #define MODULES_PERCEPTION_BASE_VEHICLE_STRUCT_H_
+
 namespace apollo {
 namespace perception {
 namespace base {
+
 struct CarLight {
   float brake_visible = 0;
   float brake_switch_on = 0;
@@ -35,6 +37,7 @@ struct CarLight {
     right_turn_switch_on = 0;
   }
 };
+
 }  // namespace base
 }  // namespace perception
 }  // namespace apollo