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467980d3
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467980d3
编写于
9月 26, 2018
作者:
L
Liangliang Zhang
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差异文件
Perception: added fused_classifier_test.
上级
5773e091
变更
5
隐藏空白更改
内联
并排
Showing
5 changed file
with
41 addition
and
17 deletion
+41
-17
modules/perception/inference/utils/util.h
modules/perception/inference/utils/util.h
+2
-2
modules/perception/lidar/common/object_sequence.h
modules/perception/lidar/common/object_sequence.h
+7
-3
modules/perception/lidar/lib/classifier/fused_classifier/BUILD
...es/perception/lidar/lib/classifier/fused_classifier/BUILD
+21
-9
modules/perception/lidar/lib/classifier/fused_classifier/fused_classifier.h
.../lidar/lib/classifier/fused_classifier/fused_classifier.h
+6
-1
modules/perception/lidar/lib/classifier/fused_classifier/fused_classifier_test.cc
.../lib/classifier/fused_classifier/fused_classifier_test.cc
+5
-2
未找到文件。
modules/perception/inference/utils/util.h
浏览文件 @
467980d3
...
@@ -18,8 +18,6 @@
...
@@ -18,8 +18,6 @@
#define MODULES_PERCEPTION_INFERENCE_UTILS_UTIL_H_
#define MODULES_PERCEPTION_INFERENCE_UTILS_UTIL_H_
#include <cuda_runtime_api.h>
#include <cuda_runtime_api.h>
#include <boost/shared_ptr.hpp>
#include <fstream>
#include <fstream>
#include <iostream>
#include <iostream>
#include <map>
#include <map>
...
@@ -27,6 +25,8 @@
...
@@ -27,6 +25,8 @@
#include <string>
#include <string>
#include <vector>
#include <vector>
#include "boost/shared_ptr.hpp"
#include "modules/perception/base/blob.h"
#include "modules/perception/base/blob.h"
namespace
apollo
{
namespace
apollo
{
...
...
modules/perception/lidar/common/object_sequence.h
浏览文件 @
467980d3
...
@@ -17,9 +17,11 @@
...
@@ -17,9 +17,11 @@
#define MODULES_PERCEPTION_LIDAR_COMMON_OBJECT_SEQUENCE_H_
#define MODULES_PERCEPTION_LIDAR_COMMON_OBJECT_SEQUENCE_H_
#include <map>
#include <map>
#include <memory>
#include <mutex>
#include <mutex>
#include <vector>
#include <vector>
#include <memory>
#include "gtest/gtest_prod.h"
#include "modules/perception/base/object.h"
#include "modules/perception/base/object.h"
#include "modules/perception/lidar/common/lidar_log.h"
#include "modules/perception/lidar/common/lidar_log.h"
...
@@ -33,7 +35,8 @@ class ObjectSequence {
...
@@ -33,7 +35,8 @@ class ObjectSequence {
typedef
int
TrackIdKey
;
typedef
int
TrackIdKey
;
typedef
double
TimeStampKey
;
typedef
double
TimeStampKey
;
typedef
std
::
map
<
TimeStampKey
,
typedef
std
::
map
<
TimeStampKey
,
std
::
shared_ptr
<
apollo
::
perception
::
base
::
Object
>>
TrackedObjects
;
std
::
shared_ptr
<
apollo
::
perception
::
base
::
Object
>>
TrackedObjects
;
public:
public:
ObjectSequence
()
=
default
;
ObjectSequence
()
=
default
;
...
@@ -47,9 +50,10 @@ class ObjectSequence {
...
@@ -47,9 +50,10 @@ class ObjectSequence {
TimeStampKey
window_time
);
TimeStampKey
window_time
);
protected:
protected:
FRIEND_TEST
(
FusedClassifierTest
,
test_one_sequence_fusion
);
FRIEND_TEST
(
FusedClassifierTest
,
test_one_sequence_fusion_bad_timestamp
);
void
RemoveStaleTracks
(
TimeStampKey
current_stamp
);
void
RemoveStaleTracks
(
TimeStampKey
current_stamp
);
protected:
TimeStampKey
current_
;
TimeStampKey
current_
;
std
::
map
<
TrackIdKey
,
TrackedObjects
>
sequence_
;
std
::
map
<
TrackIdKey
,
TrackedObjects
>
sequence_
;
std
::
mutex
mutex_
;
std
::
mutex
mutex_
;
...
...
modules/perception/lidar/lib/classifier/fused_classifier/BUILD
浏览文件 @
467980d3
...
@@ -11,8 +11,8 @@ cc_library(
...
@@ -11,8 +11,8 @@ cc_library(
"util.h"
,
"util.h"
,
],
],
deps
=
[
deps
=
[
"//modules/perception/base:object"
,
"//framework:cybertron"
,
"//framework:cybertron"
,
"//modules/perception/base:object"
,
"@eigen"
,
"@eigen"
,
],
],
)
)
...
@@ -24,8 +24,8 @@ cc_library(
...
@@ -24,8 +24,8 @@ cc_library(
],
],
deps
=
[
deps
=
[
"//modules/perception/base:object"
,
"//modules/perception/base:object"
,
"//modules/perception/lib/registerer
:registerer
"
,
"//modules/perception/lib/registerer"
,
"//modules/perception/lidar/common
:common
"
,
"//modules/perception/lidar/common"
,
],
],
)
)
...
@@ -38,16 +38,16 @@ cc_library(
...
@@ -38,16 +38,16 @@ cc_library(
"ccrf_type_fusion.h"
,
"ccrf_type_fusion.h"
,
],
],
deps
=
[
deps
=
[
":util"
,
":type_fusion_interface"
,
":type_fusion_interface"
,
":util"
,
"//framework:cybertron"
,
"//modules/common/util:file_util"
,
"//modules/common/util:file_util"
,
"//modules/perception/base:object"
,
"//modules/perception/base:object"
,
"//modules/perception/base:point_cloud"
,
"//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/lib/io:file_util"
,
"//modules/perception/lidar/common:object_sequence"
,
"//modules/perception/lidar/common:object_sequence"
,
"//modules/perception/proto:ccrf_type_fusion_config_proto"
,
"//modules/perception/proto:ccrf_type_fusion_config_proto"
,
"//framework:cybertron"
,
],
],
)
)
...
@@ -61,14 +61,26 @@ cc_library(
...
@@ -61,14 +61,26 @@ cc_library(
],
],
deps
=
[
deps
=
[
":type_fusion_interface"
,
":type_fusion_interface"
,
"//framework:cybertron"
,
"//modules/common/util:file_util"
,
"//modules/common/util:file_util"
,
"//modules/perception/proto:fused_classifier_config_proto"
,
"//modules/perception/lib/config_manager"
,
"//modules/perception/lib/config_manager:config_manager"
,
"//modules/perception/lib/io:file_util"
,
"//modules/perception/lib/io:file_util"
,
"//modules/perception/lidar/common:lidar_frame"
,
"//modules/perception/lidar/common:lidar_frame"
,
"//modules/perception/lidar/common:object_sequence"
,
"//modules/perception/lidar/common:object_sequence"
,
"//modules/perception/lidar/lib/interface:base_classifier"
,
"//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
浏览文件 @
467980d3
...
@@ -16,8 +16,10 @@
...
@@ -16,8 +16,10 @@
#ifndef MODULES_PERCEPTION_LIDAR_LIB_CLASSIFIER_FUSED_CLASSIFIER_H_
#ifndef MODULES_PERCEPTION_LIDAR_LIB_CLASSIFIER_FUSED_CLASSIFIER_H_
#define MODULES_PERCEPTION_LIDAR_LIB_CLASSIFIER_FUSED_CLASSIFIER_H_
#define MODULES_PERCEPTION_LIDAR_LIB_CLASSIFIER_FUSED_CLASSIFIER_H_
#include <string>
#include <memory>
#include <memory>
#include <string>
#include "gtest/gtest_prod.h"
#include "modules/perception/lib/config_manager/config_manager.h"
#include "modules/perception/lib/config_manager/config_manager.h"
#include "modules/perception/lidar/common/lidar_frame.h"
#include "modules/perception/lidar/common/lidar_frame.h"
...
@@ -41,6 +43,9 @@ class FusedClassifier : public BaseClassifier {
...
@@ -41,6 +43,9 @@ class FusedClassifier : public BaseClassifier {
std
::
string
Name
()
const
override
{
return
"FusedClassifier"
;
}
std
::
string
Name
()
const
override
{
return
"FusedClassifier"
;
}
private:
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_
;
ObjectSequence
sequence_
;
double
temporal_window_
=
20.0
;
double
temporal_window_
=
20.0
;
bool
enable_temporal_fusion_
=
true
;
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
浏览文件 @
467980d3
...
@@ -13,14 +13,17 @@
...
@@ -13,14 +13,17 @@
* See the License for the specific language governing permissions and
* See the License for the specific language governing permissions and
* limitations under the License.
* limitations under the License.
*****************************************************************************/
*****************************************************************************/
#include <gtest/gtest.h>
#include "modules/perception/lidar/lib/classifier/fused_classifier/fused_classifier.h"
#include <map>
#include <map>
#include <mutex>
#include <mutex>
#include "gtest/gtest.h"
#include "modules/perception/base/object.h"
#include "modules/perception/base/object.h"
#include "modules/perception/lidar/common/lidar_frame.h"
#include "modules/perception/lidar/common/lidar_frame.h"
#include "modules/perception/lidar/common/lidar_log.h"
#include "modules/perception/lidar/common/lidar_log.h"
#include "modules/perception/lidar/common/object_sequence.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"
#include "modules/perception/lidar/lib/classifier/fused_classifier/util.h"
namespace
apollo
{
namespace
apollo
{
...
...
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