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体验新版 GitCode,发现更多精彩内容 >>
提交
7c547a88
编写于
2月 02, 2019
作者:
J
Jie Liu
提交者:
Tae Eun Choe
2月 01, 2019
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差异文件
Perception: remove obsolated ObjectInRoiSlackCheck method as well as test case (#6680)
上级
1e1d102f
变更
3
隐藏空白更改
内联
并排
Showing
3 changed file
with
0 addition
and
77 deletion
+0
-77
modules/perception/common/geometry/roi_filter.cc
modules/perception/common/geometry/roi_filter.cc
+0
-29
modules/perception/common/geometry/roi_filter.h
modules/perception/common/geometry/roi_filter.h
+0
-7
modules/perception/common/geometry/roi_filter_test.cc
modules/perception/common/geometry/roi_filter_test.cc
+0
-41
未找到文件。
modules/perception/common/geometry/roi_filter.cc
浏览文件 @
7c547a88
...
...
@@ -112,35 +112,6 @@ bool ObjectInRoiCheck(const HdmapStructConstPtr roi,
return
valid_objects
->
size
()
>
0
?
true
:
false
;
}
bool
ObjectInRoiSlackCheck
(
const
HdmapStructConstPtr
roi
,
const
std
::
vector
<
ObjectPtr
>&
objects
,
std
::
vector
<
ObjectPtr
>*
valid_objects
)
{
if
(
roi
==
nullptr
||
roi
->
road_polygons
.
size
()
+
roi
->
junction_polygons
.
size
()
==
0
)
{
valid_objects
->
assign
(
objects
.
begin
(),
objects
.
end
());
return
true
;
}
valid_objects
->
clear
();
valid_objects
->
reserve
(
objects
.
size
());
for
(
std
::
size_t
i
=
0
;
i
<
objects
.
size
();
i
++
)
{
// keep object when its ct in roi
if
(
IsObjectInRoi
(
roi
,
objects
[
i
]))
{
valid_objects
->
push_back
(
objects
[
i
]);
continue
;
}
// keep known object when its bbox in roi
if
(
objects
[
i
]
->
type
==
ObjectType
::
UNKNOWN
||
objects
[
i
]
->
type
==
ObjectType
::
UNKNOWN_MOVABLE
||
objects
[
i
]
->
type
==
ObjectType
::
UNKNOWN_UNMOVABLE
)
{
continue
;
}
if
(
IsObjectBboxInRoi
(
roi
,
objects
[
i
]))
{
valid_objects
->
push_back
(
objects
[
i
]);
}
}
return
true
;
}
}
// namespace common
}
// namespace perception
}
// namespace apollo
modules/perception/common/geometry/roi_filter.h
浏览文件 @
7c547a88
...
...
@@ -48,13 +48,6 @@ bool ObjectInRoiCheck(
const
std
::
vector
<
std
::
shared_ptr
<
apollo
::
perception
::
base
::
Object
>>&
objs
,
std
::
vector
<
std
::
shared_ptr
<
apollo
::
perception
::
base
::
Object
>>*
valid_objs
);
// @brief: whether objects' center and bbox is in ROI. If return True,
// you can get objects in ROI by param valid_objects.
bool
ObjectInRoiSlackCheck
(
const
std
::
shared_ptr
<
const
apollo
::
perception
::
base
::
HdmapStruct
>
roi
,
const
std
::
vector
<
std
::
shared_ptr
<
apollo
::
perception
::
base
::
Object
>>&
objs
,
std
::
vector
<
std
::
shared_ptr
<
apollo
::
perception
::
base
::
Object
>>*
valid_objs
);
}
// namespace common
}
// namespace perception
}
// namespace apollo
modules/perception/common/geometry/roi_filter_test.cc
浏览文件 @
7c547a88
...
...
@@ -164,47 +164,6 @@ TEST(ObjectInRoiTest, test_roi) {
EXPECT_EQ
(
valid_objects
.
size
(),
0
);
}
TEST
(
ObjectInRoiSlackTest
,
test_roi
)
{
HdmapStructPtr
hdmap
=
nullptr
;
std
::
vector
<
ObjectPtr
>
objects
;
std
::
vector
<
ObjectPtr
>
valid_objects
;
ObjectPtr
obj
(
new
Object
);
obj
->
center
=
Eigen
::
Vector3d
(
0
,
0
,
0
);
obj
->
direction
=
Eigen
::
Vector3f
(
1
,
0
,
0
);
objects
.
push_back
(
obj
);
ObjectInRoiSlackCheck
(
hdmap
,
objects
,
&
valid_objects
);
EXPECT_EQ
(
valid_objects
.
size
(),
1
);
hdmap
.
reset
(
new
HdmapStruct
());
valid_objects
.
clear
();
ObjectInRoiSlackCheck
(
hdmap
,
objects
,
&
valid_objects
);
EXPECT_EQ
(
valid_objects
.
size
(),
1
);
hdmap
->
road_polygons
.
resize
(
1
);
PointD
pt
;
pt
.
x
=
-
1.0
;
pt
.
y
=
-
1.0
;
pt
.
z
=
0
;
hdmap
->
road_polygons
[
0
].
push_back
(
pt
);
pt
.
x
=
1.0
;
pt
.
y
=
-
1.0
;
pt
.
z
=
0
;
hdmap
->
road_polygons
[
0
].
push_back
(
pt
);
pt
.
x
=
0
;
pt
.
y
=
1
;
pt
.
z
=
0
;
hdmap
->
road_polygons
[
0
].
push_back
(
pt
);
valid_objects
.
clear
();
ObjectInRoiSlackCheck
(
hdmap
,
objects
,
&
valid_objects
);
EXPECT_EQ
(
valid_objects
.
size
(),
1
);
hdmap
->
road_polygons
[
0
][
2
].
y
=
-
2
;
valid_objects
.
clear
();
ObjectInRoiSlackCheck
(
hdmap
,
objects
,
&
valid_objects
);
EXPECT_EQ
(
valid_objects
.
size
(),
0
);
}
}
// namespace common
}
// namespace perception
}
// namespace apollo
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