pass all unittest

modules/perception/radar/lib/tracker/matcher/hm_matcher.cc

@@ -119,14 +119,14 @@ void HMMatcher::TrackObjectPropertyMatch(
                         *unassigned_objects, &association_mat);
 
   // from perception-common
-  common::SecureMat<double> global_costs = hungarian_matcher_.global_costs();
-  global_costs.Resize(unassigned_tracks->size(), unassigned_objects->size());
+  common::SecureMat<double>* global_costs =
+      hungarian_matcher_.mutable_global_costs();
+  global_costs->Resize(unassigned_tracks->size(), unassigned_objects->size());
   for (size_t i = 0; i < unassigned_tracks->size(); ++i) {
     for (size_t j = 0; j < unassigned_objects->size(); ++j) {
-      global_costs(i, j) = association_mat[i][j];
+      (*global_costs)(i, j) = association_mat[i][j];
     }
   }
-
   std::vector<TrackObjectPair> property_assignments;
   std::vector<size_t> property_unassigned_tracks;
   std::vector<size_t> property_unassigned_objects;

modules/perception/radar/temp

-/******************************************************************************
-     * Copyright 2018 The Apollo Authors. All Rights Reserved.
-     *
-     * Licensed under the Apache License, Version 2.0 (the License);
-     * you may not use this file except in compliance with the License.
-     * You may obtain a copy of the License at
-     *
-     * http://www.apache.org/licenses/LICENSE-2.0
-     *
-     * Unless required by applicable law or agreed to in writing, software
-     * distributed under the License is distributed on an AS IS BASIS,
-     * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-     * See the License for the specific language governing permissions and
-     * limitations under the License.
-     *****************************************************************************/

modules/perception/radar/test/BUILD

@@ -16,6 +16,7 @@ cc_test(
 
 cc_test(
     name = "radar_conti_ars_preprocessor_test",
+    size = "small",
     srcs = [
         "radar_conti_ars_preprocessor_test.cc",
     ],
@@ -27,6 +28,7 @@ cc_test(
 
 cc_test(
     name = "radar_dummy_algorithms_test",
+    size = "small",
     srcs = [
         "radar_dummy_algorithms_test.cc",
     ],
@@ -38,6 +40,7 @@ cc_test(
 
 cc_test(
     name = "radar_filter_adaptive_kalman_filter_test",
+    size = "small",
     srcs = [
         "radar_filter_adaptive_kalman_filter_test.cc",
     ],
@@ -49,6 +52,7 @@ cc_test(
 
 cc_test(
     name = "radar_hdmap_radar_roi_filter_test",
+    size = "small",
     srcs = [
         "radar_hdmap_radar_roi_filter_test.cc",
     ],
@@ -60,6 +64,7 @@ cc_test(
 
 cc_test(
     name = "radar_interface_base_matcher_test",
+    size = "small",
     srcs = [
         "radar_interface_base_matcher_test.cc",
     ],
@@ -72,6 +77,7 @@ cc_test(
 
 cc_test(
     name = "radar_tracker_conti_ars_tracker_empty_test",
+    size = "small",
     srcs = [
         "radar_tracker_conti_ars_tracker_empty_test.cc",
     ],
@@ -83,6 +89,7 @@ cc_test(
 
 cc_test(
     name = "radar_tracker_conti_ars_tracker_test",
+    size = "small",
     srcs = [
         "radar_tracker_conti_ars_tracker_test.cc",
     ],
@@ -94,6 +101,7 @@ cc_test(
 
 cc_test(
     name = "radar_tracker_hm_matcher_test",
+    size = "small",
     srcs = [
         "radar_tracker_hm_matcher_test.cc",
     ],
@@ -106,6 +114,7 @@ cc_test(
 
 cc_test(
     name = "radar_tracker_radar_track_manager_test",
+    size = "small",
     srcs = [
         "radar_tracker_radar_track_manager_test.cc",
     ],
@@ -117,6 +126,7 @@ cc_test(
 
 cc_test(
     name = "radar_tracker_radar_track_test",
+    size = "small",
     srcs = [
         "radar_tracker_radar_track_test.cc",
     ],

modules/perception/radar/test/radar_conti_ars_preprocessor_test.cc

@@ -33,7 +33,8 @@ class ContiArsPreprocessorTest : public testing::Test {
 TEST_F(ContiArsPreprocessorTest, init) {
   float delay_time = preprocessor.GetDelayTime();
   EXPECT_FLOAT_EQ(delay_time, 0.0);
-  FLAGS_work_root = "./radar_test_data/preprocessor";
+  FLAGS_work_root = "/apollo/modules/perception/testdata/"
+      "radar/preprocessor";
   bool init_result = preprocessor.Init();
   EXPECT_TRUE(init_result);
   delay_time = preprocessor.GetDelayTime();
@@ -43,6 +44,13 @@ TEST_F(ContiArsPreprocessorTest, init) {
 
 TEST_F(ContiArsPreprocessorTest, preprocess) {
   ContiRadar raw_obs;
+  Header radar_header;
+  radar_header.set_timestamp_sec(151237772.355345434);
+  radar_header.set_radar_timestamp(151237772355345434);
+  radar_header.set_module_name("radar");
+  radar_header.set_sequence_num(0);
+  raw_obs.mutable_header()->CopyFrom(radar_header);
+
   PreprocessorOptions options;
   ContiRadar corrected_obs;
 
@@ -94,6 +102,12 @@ TEST_F(ContiArsPreprocessorTest, preprocess) {
   raw_obs.clear_contiobs();
   corrected_obs.clear_contiobs();
 
+  radar_header.set_timestamp_sec(151237772.425345434);
+  radar_header.set_radar_timestamp(151237772425345434);
+  radar_header.set_module_name("radar");
+  radar_header.set_sequence_num(0);
+  raw_obs.mutable_header()->CopyFrom(radar_header);
+
   conti_obs = raw_obs.add_contiobs();
   conti_obs->set_obstacle_id(1);
   conti_obs->set_meas_state(1);
@@ -125,6 +139,12 @@ TEST_F(ContiArsPreprocessorTest, preprocess) {
   raw_obs.clear_contiobs();
   corrected_obs.clear_contiobs();
 
+  radar_header.set_timestamp_sec(151237772.485345434);
+  radar_header.set_radar_timestamp(151237772485345434);
+  radar_header.set_module_name("radar");
+  radar_header.set_sequence_num(0);
+  raw_obs.mutable_header()->CopyFrom(radar_header);
+
   SetMaxRadarIdx();
   conti_obs = raw_obs.add_contiobs();
   conti_obs->set_obstacle_id(50);

modules/perception/radar/test/radar_tracker_conti_ars_tracker_empty_test.cc

@@ -24,7 +24,8 @@ namespace radar {
 
 TEST(ContiArsTrackerTest, conti_ars_tracker_empty_init_test) {
   BaseTracker* tracker = new ContiArsTracker();
-  FLAGS_work_root = "./radar_test_data/conti_ars_tracker/empty";
+  FLAGS_work_root = "/apollo/modules/perception/testdata/"
+        "radar/conti_ars_tracker/empty";
   EXPECT_EQ(tracker->Init(), false);
   delete tracker;
 }

modules/perception/radar/test/radar_tracker_conti_ars_tracker_test.cc

@@ -27,7 +27,8 @@ namespace radar {
 
 TEST(ContiArsTrackerTest, conti_ars_tracker_init_test) {
   BaseTracker* tracker = new ContiArsTracker();
-  FLAGS_work_root = "./radar_test_data/conti_ars_tracker";
+  FLAGS_work_root = "/apollo/modules/perception/testdata/"
+        "radar/conti_ars_tracker";
   EXPECT_EQ(tracker->Init(), true);
   EXPECT_EQ(tracker->Name(), "ContiArsTracker");
   delete tracker;

modules/perception/radar/test/radar_tracker_hm_matcher_test.cc

@@ -30,7 +30,8 @@ namespace radar {
 TEST(HMMatcherTest, hm_matcher_init_test) {
   BaseMatcher* matcher = new HMMatcher();
   EXPECT_TRUE(matcher != nullptr);
-  FLAGS_work_root = "./radar_test_data/matcher";
+  FLAGS_work_root = "/apollo/modules/perception/testdata/"
+        "radar/matcher";
   EXPECT_EQ(matcher->Init(), true);
   delete matcher;
 }
@@ -59,7 +60,8 @@ TEST(HMMatcherTest, hm_matcher_propterty_match_test) {
 TEST(HMMatcherTest, hm_matcher_test) {
   BaseMatcher* matcher = new HMMatcher();
   EXPECT_TRUE(matcher != nullptr);
-  FLAGS_work_root = "./radar_test_data/matcher";
+  FLAGS_work_root = "/apollo/modules/perception/testdata/"
+        "radar/matcher";
   EXPECT_EQ(matcher->Init(), true);
   EXPECT_EQ(matcher->Name(), "HMMatcher");
   double match_distance = 2.5;