Perception: added fused_classifier_test.

modules/perception/inference/utils/util.h

@@ -18,8 +18,6 @@
 #define MODULES_PERCEPTION_INFERENCE_UTILS_UTIL_H_
 
 #include <cuda_runtime_api.h>
-
-#include <boost/shared_ptr.hpp>
 #include <fstream>
 #include <iostream>
 #include <map>
@@ -27,6 +25,8 @@
 #include <string>
 #include <vector>
 
+#include "boost/shared_ptr.hpp"
+
 #include "modules/perception/base/blob.h"
 
 namespace apollo {

modules/perception/lidar/common/object_sequence.h

@@ -17,9 +17,11 @@
 #define MODULES_PERCEPTION_LIDAR_COMMON_OBJECT_SEQUENCE_H_
 
 #include <map>
+#include <memory>
 #include <mutex>
 #include <vector>
-#include <memory>
+
+#include "gtest/gtest_prod.h"
 
 #include "modules/perception/base/object.h"
 #include "modules/perception/lidar/common/lidar_log.h"
@@ -33,7 +35,8 @@ class ObjectSequence {
   typedef int TrackIdKey;
   typedef double TimeStampKey;
   typedef std::map<TimeStampKey,
-      std::shared_ptr<apollo::perception::base::Object>> TrackedObjects;
+                   std::shared_ptr<apollo::perception::base::Object>>
+      TrackedObjects;
 
  public:
   ObjectSequence() = default;
@@ -47,9 +50,10 @@ class ObjectSequence {
                                 TimeStampKey window_time);
 
  protected:
+  FRIEND_TEST(FusedClassifierTest, test_one_sequence_fusion);
+  FRIEND_TEST(FusedClassifierTest, test_one_sequence_fusion_bad_timestamp);
   void RemoveStaleTracks(TimeStampKey current_stamp);
 
- protected:
   TimeStampKey current_;
   std::map<TrackIdKey, TrackedObjects> sequence_;
   std::mutex mutex_;

modules/perception/lidar/lib/classifier/fused_classifier/BUILD

@@ -11,8 +11,8 @@ cc_library(
         "util.h",
     ],
     deps = [
-        "//modules/perception/base:object",
         "//framework:cybertron",
+        "//modules/perception/base:object",
         "@eigen",
     ],
 )
@@ -24,8 +24,8 @@ cc_library(
     ],
     deps = [
         "//modules/perception/base:object",
-        "//modules/perception/lib/registerer:registerer",
-        "//modules/perception/lidar/common:common",
+        "//modules/perception/lib/registerer",
+        "//modules/perception/lidar/common",
     ],
 )
 
@@ -38,16 +38,16 @@ cc_library(
         "ccrf_type_fusion.h",
     ],
     deps = [
-        ":util",
         ":type_fusion_interface",
+        ":util",
+        "//framework:cybertron",
         "//modules/common/util:file_util",
         "//modules/perception/base:object",
         "//modules/perception/base:point_cloud",
-        "//modules/perception/lib/config_manager:config_manager",
+        "//modules/perception/lib/config_manager",
         "//modules/perception/lib/io:file_util",
         "//modules/perception/lidar/common:object_sequence",
         "//modules/perception/proto:ccrf_type_fusion_config_proto",
-        "//framework:cybertron",
     ],
 )
 
@@ -61,14 +61,26 @@ cc_library(
     ],
     deps = [
         ":type_fusion_interface",
+        "//framework:cybertron",
         "//modules/common/util:file_util",
-        "//modules/perception/proto:fused_classifier_config_proto",
-        "//modules/perception/lib/config_manager:config_manager",
+        "//modules/perception/lib/config_manager",
         "//modules/perception/lib/io:file_util",
         "//modules/perception/lidar/common:lidar_frame",
         "//modules/perception/lidar/common:object_sequence",
         "//modules/perception/lidar/lib/interface:base_classifier",
-        "//framework:cybertron",
+        "//modules/perception/proto:fused_classifier_config_proto",
+    ],
+)
+
+cc_library(
+    name = "fused_classifier_test",
+    srcs = [
+        "fused_classifier_test.cc",
+    ],
+    deps = [
+        ":fused_classifier",
+        ":util",
+        "@gtest//:main",
     ],
 )
 

modules/perception/lidar/lib/classifier/fused_classifier/fused_classifier.h

@@ -16,8 +16,10 @@
 #ifndef MODULES_PERCEPTION_LIDAR_LIB_CLASSIFIER_FUSED_CLASSIFIER_H_
 #define MODULES_PERCEPTION_LIDAR_LIB_CLASSIFIER_FUSED_CLASSIFIER_H_
 
-#include <string>
 #include <memory>
+#include <string>
+
+#include "gtest/gtest_prod.h"
 
 #include "modules/perception/lib/config_manager/config_manager.h"
 #include "modules/perception/lidar/common/lidar_frame.h"
@@ -41,6 +43,9 @@ class FusedClassifier : public BaseClassifier {
   std::string Name() const override { return "FusedClassifier"; }
 
  private:
+  FRIEND_TEST(FusedClassifierTest, test_one_shot_fusion);
+  FRIEND_TEST(FusedClassifierTest, test_one_sequence_fusion);
+  FRIEND_TEST(FusedClassifierTest, test_one_sequence_fusion_bad_timestamp);
   ObjectSequence sequence_;
   double temporal_window_ = 20.0;
   bool enable_temporal_fusion_ = true;

modules/perception/lidar/test/lidar_lib_classifier_fused_classifier_test.cc → modules/perception/lidar/lib/classifier/fused_classifier/fused_classifier_test.cc

@@ -13,14 +13,17 @@
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *****************************************************************************/
-#include <gtest/gtest.h>
+#include "modules/perception/lidar/lib/classifier/fused_classifier/fused_classifier.h"
+
 #include <map>
 #include <mutex>
+
+#include "gtest/gtest.h"
+
 #include "modules/perception/base/object.h"
 #include "modules/perception/lidar/common/lidar_frame.h"
 #include "modules/perception/lidar/common/lidar_log.h"
 #include "modules/perception/lidar/common/object_sequence.h"
-#include "modules/perception/lidar/lib/classifier/fused_classifier/fused_classifier.h"
 #include "modules/perception/lidar/lib/classifier/fused_classifier/util.h"
 
 namespace apollo {