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提交 80660011 编写于 作者: T tthhee 提交者： Calvin Miao
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Localization: update pyramid_map module

上级 fd90f229
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Showing with 49 addition and 31 deletion
modules/localization/msf/local_pyramid_map/pyramid_map/aligned_matrix.h
浏览文件 @ 80660011
...@@ -22,6 +22,7 @@ ...@@ -22,6 +22,7 @@
namespace apollo { namespace apollo {
namespace localization { namespace localization {
namespace msf { namespace msf {
namespace pyramid_map {
template <typename Scalar, int aligned_len = alignof(max_align_t)> template <typename Scalar, int aligned_len = alignof(max_align_t)>
class AlignedMatrix { class AlignedMatrix {
...@@ -226,6 +227,7 @@ operator=(const AlignedMatrix<Scalar, aligned_len>& matrix) { ...@@ -226,6 +227,7 @@ operator=(const AlignedMatrix<Scalar, aligned_len>& matrix) {
return *this; return *this;
} }
} // namespace pyramid_map
} // namespace msf } // namespace msf
} // namespace localization } // namespace localization
} // namespace apollo } // namespace apollo
modules/localization/msf/local_pyramid_map/pyramid_map/pyramid_map_config.cc
浏览文件 @ 80660011
...@@ -13,13 +13,14 @@ ...@@ -13,13 +13,14 @@
* 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 "modules/localization/msf/local_map/pyramid_map/pyramid_map_config.h" #include "modules/localization/msf/local_pyramid_map/pyramid_map/pyramid_map_config.h"
#include <string> #include <string>
namespace apollo { namespace apollo {
namespace localization { namespace localization {
namespace msf { namespace msf {
namespace pyramid_map {
PyramidMapConfig::PyramidMapConfig(const std::string& map_version) PyramidMapConfig::PyramidMapConfig(const std::string& map_version)
: BaseMapConfig(map_version) {} : BaseMapConfig(map_version) {}
...@@ -129,6 +130,7 @@ bool PyramidMapConfig::LoadXml(const boost::property_tree::ptree& config) { ...@@ -129,6 +130,7 @@ bool PyramidMapConfig::LoadXml(const boost::property_tree::ptree& config) {
return false; return false;
} }
} // namespace pyramid_map
} // namespace msf } // namespace msf
} // namespace localization } // namespace localization
} // namespace apollo } // namespace apollo
modules/localization/msf/local_pyramid_map/pyramid_map/pyramid_map_config.h
浏览文件 @ 80660011
...@@ -16,11 +16,12 @@ ...@@ -16,11 +16,12 @@
#pragma once #pragma once
#include <string> #include <string>
#include "modules/localization/msf/local_map/base_map/base_map_config.h" #include "modules/localization/msf/local_pyramid_map/base_map/base_map_config.h"
namespace apollo { namespace apollo {
namespace localization { namespace localization {
namespace msf { namespace msf {
namespace pyramid_map {
class PyramidMapConfig : public BaseMapConfig { class PyramidMapConfig : public BaseMapConfig {
public: public:
...@@ -53,6 +54,7 @@ class PyramidMapConfig : public BaseMapConfig { ...@@ -53,6 +54,7 @@ class PyramidMapConfig : public BaseMapConfig {
virtual bool LoadXml(const boost::property_tree::ptree& config); virtual bool LoadXml(const boost::property_tree::ptree& config);
}; };
} // namespace pyramid_map
} // namespace msf } // namespace msf
} // namespace localization } // namespace localization
} // namespace apollo } // namespace apollo
modules/localization/msf/local_pyramid_map/pyramid_map/pyramid_map_config_test.cc
浏览文件 @ 80660011
...@@ -14,9 +14,9 @@ ...@@ -14,9 +14,9 @@
* limitations under the License. * limitations under the License.
*****************************************************************************/ *****************************************************************************/
#include "modules/localization/msf/local_map/pyramid_map/pyramid_map_config.h" #include "modules/localization/msf/local_pyramid_map/pyramid_map/pyramid_map_config.h"
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include "modules/localization/msf/local_map/base_map/base_map_config.h" #include "modules/localization/msf/local_pyramid_map/base_map/base_map_config.h"
int main(int argc, char** argv) { int main(int argc, char** argv) {
testing::InitGoogleTest(&argc, argv); testing::InitGoogleTest(&argc, argv);
...@@ -26,6 +26,7 @@ int main(int argc, char** argv) { ...@@ -26,6 +26,7 @@ int main(int argc, char** argv) {
namespace apollo { namespace apollo {
namespace localization { namespace localization {
namespace msf { namespace msf {
namespace pyramid_map {
TEST(PyramidMapConfigTestSuite, base_config_method) { TEST(PyramidMapConfigTestSuite, base_config_method) {
PyramidMapConfig config("lossy_full_alt"); PyramidMapConfig config("lossy_full_alt");
...@@ -61,6 +62,7 @@ TEST(PyramidMapConfigTestSuite, base_config_method) { ...@@ -61,6 +62,7 @@ TEST(PyramidMapConfigTestSuite, base_config_method) {
config2.Load(config_file); config2.Load(config_file);
} }
} // namespace pyramid_map
} // namespace msf } // namespace msf
} // namespace localization } // namespace localization
} // namespace apollo } // namespace apollo
modules/localization/msf/local_pyramid_map/pyramid_map/pyramid_map_matrix.cc
浏览文件 @ 80660011
...@@ -13,13 +13,16 @@ ...@@ -13,13 +13,16 @@
* 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 "modules/localization/msf/local_map/pyramid_map/pyramid_map_matrix.h" #include "modules/localization/msf/local_pyramid_map/pyramid_map/pyramid_map_matrix.h"
#include <algorithm> #include <algorithm>
#include <memory>
#include "cyber/common/log.h"
namespace apollo { namespace apollo {
namespace localization { namespace localization {
namespace msf { namespace msf {
namespace pyramid_map {
PyramidMapMatrix::PyramidMapMatrix() { Clear(); } PyramidMapMatrix::PyramidMapMatrix() { Clear(); }
...@@ -1478,7 +1481,7 @@ double PyramidMapMatrix::ComputeMeanIntensity(unsigned int level) { ...@@ -1478,7 +1481,7 @@ double PyramidMapMatrix::ComputeMeanIntensity(unsigned int level) {
return avg; return avg;
} }
void PyramidMapMatrix::Reduce(PyramidMapMatrix* cells, void PyramidMapMatrix::Reduce(std::shared_ptr<PyramidMapMatrix> cells,
const PyramidMapMatrix& new_cells, const PyramidMapMatrix& new_cells,
unsigned int level, unsigned int new_level) { unsigned int level, unsigned int new_level) {
if (level >= cells->resolution_num_) { if (level >= cells->resolution_num_) {
...@@ -1515,6 +1518,7 @@ void PyramidMapMatrix::Reduce(PyramidMapMatrix* cells, ...@@ -1515,6 +1518,7 @@ void PyramidMapMatrix::Reduce(PyramidMapMatrix* cells,
} }
} }
} // namespace pyramid_map
} // namespace msf } // namespace msf
} // namespace localization } // namespace localization
} // namespace apollo } // namespace apollo
modules/localization/msf/local_pyramid_map/pyramid_map/pyramid_map_matrix.h
浏览文件 @ 80660011
...@@ -15,15 +15,17 @@ ...@@ -15,15 +15,17 @@
*****************************************************************************/ *****************************************************************************/
#pragma once #pragma once
#include <memory>
#include <vector> #include <vector>
#include "modules/localization/msf/common/util/rect2d.h" #include "modules/localization/msf/common/util/rect2d.h"
#include "modules/localization/msf/local_map/base_map/base_map_matrix.h" #include "modules/localization/msf/local_pyramid_map/base_map/base_map_matrix.h"
#include "modules/localization/msf/local_map/pyramid_map/aligned_matrix.h" #include "modules/localization/msf/local_pyramid_map/pyramid_map/aligned_matrix.h"
#include "modules/localization/msf/local_map/pyramid_map/pyramid_map_config.h" #include "modules/localization/msf/local_pyramid_map/pyramid_map/pyramid_map_config.h"
namespace apollo { namespace apollo {
namespace localization { namespace localization {
namespace msf { namespace msf {
namespace pyramid_map {
typedef AlignedMatrix<float> FloatMatrix; typedef AlignedMatrix<float> FloatMatrix;
typedef AlignedMatrix<unsigned int> UIntMatrix; typedef AlignedMatrix<unsigned int> UIntMatrix;
...@@ -199,8 +201,9 @@ class PyramidMapMatrix : public BaseMapMatrix { ...@@ -199,8 +201,9 @@ class PyramidMapMatrix : public BaseMapMatrix {
double ComputeMeanIntensity(unsigned int level = 0); double ComputeMeanIntensity(unsigned int level = 0);
/**@brief Combine two PyramidMapMatrix instances (Reduce). */ /**@brief Combine two PyramidMapMatrix instances (Reduce). */
static void Reduce(PyramidMapMatrix* cells, const PyramidMapMatrix& new_cells, static void Reduce(std::shared_ptr<PyramidMapMatrix> cells,
unsigned int level = 0, unsigned int new_level = 0); const PyramidMapMatrix& new_cells, unsigned int level = 0,
unsigned int new_level = 0);
inline bool HasIntensity() const; inline bool HasIntensity() const;
inline bool HasIntensityVar() const; inline bool HasIntensityVar() const;
...@@ -562,6 +565,7 @@ inline const UIntMatrix* PyramidMapMatrix::GetGroundCountMatrix( ...@@ -562,6 +565,7 @@ inline const UIntMatrix* PyramidMapMatrix::GetGroundCountMatrix(
return &ground_count_matrixes_[level]; return &ground_count_matrixes_[level];
} }
} // namespace pyramid_map
} // namespace msf } // namespace msf
} // namespace localization } // namespace localization
} // namespace apollo } // namespace apollo
modules/localization/msf/local_pyramid_map/pyramid_map/pyramid_map_matrix_test.cc
浏览文件 @ 80660011
...@@ -14,9 +14,9 @@ ...@@ -14,9 +14,9 @@
* limitations under the License. * limitations under the License.
*****************************************************************************/ *****************************************************************************/
#include "modules/localization/msf/local_map/pyramid_map/pyramid_map_matrix.h" #include "modules/localization/msf/local_pyramid_map/pyramid_map/pyramid_map_matrix.h"
#include <gtest/gtest.h> #include <gtest/gtest.h>
#include "modules/localization/msf/local_map/pyramid_map/pyramid_map_config.h" #include "modules/localization/msf/local_pyramid_map/pyramid_map/pyramid_map_config.h"
int main(int argc, char** argv) { int main(int argc, char** argv) {
testing::InitGoogleTest(&argc, argv); testing::InitGoogleTest(&argc, argv);
...@@ -26,6 +26,7 @@ int main(int argc, char** argv) { ...@@ -26,6 +26,7 @@ int main(int argc, char** argv) {
namespace apollo { namespace apollo {
namespace localization { namespace localization {
namespace msf { namespace msf {
namespace pyramid_map {
class PyramidMapMatrixTestSuite : public ::testing::Test { class PyramidMapMatrixTestSuite : public ::testing::Test {
protected: protected:
...@@ -40,7 +41,7 @@ TEST_F(PyramidMapMatrixTestSuite, constructor_and_init) { ...@@ -40,7 +41,7 @@ TEST_F(PyramidMapMatrixTestSuite, constructor_and_init) {
std::unique_ptr<PyramidMapConfig> config( std::unique_ptr<PyramidMapConfig> config(
new PyramidMapConfig("lossy_full_alt")); new PyramidMapConfig("lossy_full_alt"));
config->SetMapNodeSize(1024, 1024); config->SetMapNodeSize(1024, 1024);
std::unique_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix()); std::shared_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix());
pm_matrix->Init(*config); pm_matrix->Init(*config);
EXPECT_EQ(pm_matrix->rows_mr_[0], 1024); EXPECT_EQ(pm_matrix->rows_mr_[0], 1024);
...@@ -56,7 +57,7 @@ TEST_F(PyramidMapMatrixTestSuite, constructor_and_init) { ...@@ -56,7 +57,7 @@ TEST_F(PyramidMapMatrixTestSuite, constructor_and_init) {
EXPECT_EQ(pm_matrix->ratio_, 2); EXPECT_EQ(pm_matrix->ratio_, 2);
// check operator = // check operator =
std::unique_ptr<PyramidMapMatrix> pm_matrix2(new PyramidMapMatrix()); std::shared_ptr<PyramidMapMatrix> pm_matrix2(new PyramidMapMatrix());
config->SetMapNodeSize(2, 2); config->SetMapNodeSize(2, 2);
pm_matrix2->Init(*config); pm_matrix2->Init(*config);
EXPECT_EQ(pm_matrix2->rows_mr_[0], 2); EXPECT_EQ(pm_matrix2->rows_mr_[0], 2);
...@@ -79,7 +80,7 @@ TEST_F(PyramidMapMatrixTestSuite, get_and_set_intensity) { ...@@ -79,7 +80,7 @@ TEST_F(PyramidMapMatrixTestSuite, get_and_set_intensity) {
std::unique_ptr<PyramidMapConfig> config( std::unique_ptr<PyramidMapConfig> config(
new PyramidMapConfig("lossy_full_alt")); new PyramidMapConfig("lossy_full_alt"));
config->SetMapNodeSize(2, 2); config->SetMapNodeSize(2, 2);
std::unique_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix()); std::shared_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix());
// check getter safe before initializtion // check getter safe before initializtion
EXPECT_EQ(pm_matrix->GetIntensityMatrixSafe(), nullptr); EXPECT_EQ(pm_matrix->GetIntensityMatrixSafe(), nullptr);
...@@ -132,7 +133,7 @@ TEST_F(PyramidMapMatrixTestSuite, get_and_set_intensity_var) { ...@@ -132,7 +133,7 @@ TEST_F(PyramidMapMatrixTestSuite, get_and_set_intensity_var) {
std::unique_ptr<PyramidMapConfig> config( std::unique_ptr<PyramidMapConfig> config(
new PyramidMapConfig("lossy_full_alt")); new PyramidMapConfig("lossy_full_alt"));
config->SetMapNodeSize(2, 2); config->SetMapNodeSize(2, 2);
std::unique_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix()); std::shared_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix());
// check getter safe before initializtion // check getter safe before initializtion
EXPECT_EQ(pm_matrix->GetIntensityVarMatrixSafe(), nullptr); EXPECT_EQ(pm_matrix->GetIntensityVarMatrixSafe(), nullptr);
...@@ -178,7 +179,7 @@ TEST_F(PyramidMapMatrixTestSuite, get_and_set_altitude) { ...@@ -178,7 +179,7 @@ TEST_F(PyramidMapMatrixTestSuite, get_and_set_altitude) {
std::unique_ptr<PyramidMapConfig> config( std::unique_ptr<PyramidMapConfig> config(
new PyramidMapConfig("lossy_full_alt")); new PyramidMapConfig("lossy_full_alt"));
config->SetMapNodeSize(2, 2); config->SetMapNodeSize(2, 2);
std::unique_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix()); std::shared_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix());
// check getter safe before initializtion // check getter safe before initializtion
EXPECT_EQ(pm_matrix->GetAltitudeMatrixSafe(), nullptr); EXPECT_EQ(pm_matrix->GetAltitudeMatrixSafe(), nullptr);
...@@ -244,7 +245,7 @@ TEST_F(PyramidMapMatrixTestSuite, get_and_set_altitude_var) { ...@@ -244,7 +245,7 @@ TEST_F(PyramidMapMatrixTestSuite, get_and_set_altitude_var) {
std::unique_ptr<PyramidMapConfig> config( std::unique_ptr<PyramidMapConfig> config(
new PyramidMapConfig("lossy_full_alt")); new PyramidMapConfig("lossy_full_alt"));
config->SetMapNodeSize(2, 2); config->SetMapNodeSize(2, 2);
std::unique_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix()); std::shared_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix());
// check getter safe before initializtion // check getter safe before initializtion
EXPECT_EQ(pm_matrix->GetAltitudeVarMatrixSafe(), nullptr); EXPECT_EQ(pm_matrix->GetAltitudeVarMatrixSafe(), nullptr);
...@@ -290,7 +291,7 @@ TEST_F(PyramidMapMatrixTestSuite, get_and_set_ground_altitude) { ...@@ -290,7 +291,7 @@ TEST_F(PyramidMapMatrixTestSuite, get_and_set_ground_altitude) {
std::unique_ptr<PyramidMapConfig> config( std::unique_ptr<PyramidMapConfig> config(
new PyramidMapConfig("lossy_full_alt")); new PyramidMapConfig("lossy_full_alt"));
config->SetMapNodeSize(2, 2); config->SetMapNodeSize(2, 2);
std::unique_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix()); std::shared_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix());
// check getter safe before initializtion // check getter safe before initializtion
EXPECT_EQ(pm_matrix->GetGroundAltitudeMatrixSafe(), nullptr); EXPECT_EQ(pm_matrix->GetGroundAltitudeMatrixSafe(), nullptr);
...@@ -337,7 +338,7 @@ TEST_F(PyramidMapMatrixTestSuite, get_and_set_count) { ...@@ -337,7 +338,7 @@ TEST_F(PyramidMapMatrixTestSuite, get_and_set_count) {
std::unique_ptr<PyramidMapConfig> config( std::unique_ptr<PyramidMapConfig> config(
new PyramidMapConfig("lossy_full_alt")); new PyramidMapConfig("lossy_full_alt"));
config->SetMapNodeSize(2, 2); config->SetMapNodeSize(2, 2);
std::unique_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix()); std::shared_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix());
// check getter safe before initializtion // check getter safe before initializtion
EXPECT_EQ(pm_matrix->GetCountMatrixSafe(), nullptr); EXPECT_EQ(pm_matrix->GetCountMatrixSafe(), nullptr);
...@@ -382,7 +383,7 @@ TEST_F(PyramidMapMatrixTestSuite, get_and_set_ground_count) { ...@@ -382,7 +383,7 @@ TEST_F(PyramidMapMatrixTestSuite, get_and_set_ground_count) {
std::unique_ptr<PyramidMapConfig> config( std::unique_ptr<PyramidMapConfig> config(
new PyramidMapConfig("lossy_full_alt")); new PyramidMapConfig("lossy_full_alt"));
config->SetMapNodeSize(2, 2); config->SetMapNodeSize(2, 2);
std::unique_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix()); std::shared_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix());
// check getter safe before initializtion // check getter safe before initializtion
EXPECT_EQ(pm_matrix->GetGroundCountMatrixSafe(), nullptr); EXPECT_EQ(pm_matrix->GetGroundCountMatrixSafe(), nullptr);
...@@ -428,7 +429,7 @@ TEST_F(PyramidMapMatrixTestSuite, set_and_reset_and_roi) { ...@@ -428,7 +429,7 @@ TEST_F(PyramidMapMatrixTestSuite, set_and_reset_and_roi) {
std::unique_ptr<PyramidMapConfig> config( std::unique_ptr<PyramidMapConfig> config(
new PyramidMapConfig("lossy_full_alt")); new PyramidMapConfig("lossy_full_alt"));
config->SetMapNodeSize(3, 3); config->SetMapNodeSize(3, 3);
std::unique_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix()); std::shared_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix());
pm_matrix->Init(*config); pm_matrix->Init(*config);
EXPECT_EQ(pm_matrix->rows_mr_[0], 3); EXPECT_EQ(pm_matrix->rows_mr_[0], 3);
...@@ -533,7 +534,7 @@ TEST_F(PyramidMapMatrixTestSuite, merge_and_add_and_reduce) { ...@@ -533,7 +534,7 @@ TEST_F(PyramidMapMatrixTestSuite, merge_and_add_and_reduce) {
std::unique_ptr<PyramidMapConfig> config( std::unique_ptr<PyramidMapConfig> config(
new PyramidMapConfig("lossy_full_alt")); new PyramidMapConfig("lossy_full_alt"));
config->SetMapNodeSize(3, 3); config->SetMapNodeSize(3, 3);
std::unique_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix()); std::shared_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix());
pm_matrix->Init(*config); pm_matrix->Init(*config);
EXPECT_EQ(pm_matrix->rows_mr_[0], 3); EXPECT_EQ(pm_matrix->rows_mr_[0], 3);
...@@ -612,7 +613,7 @@ TEST_F(PyramidMapMatrixTestSuite, merge_and_add_and_reduce) { ...@@ -612,7 +613,7 @@ TEST_F(PyramidMapMatrixTestSuite, merge_and_add_and_reduce) {
pm_matrix->SetGroundCountMatrix(uint_data, 9, 0); pm_matrix->SetGroundCountMatrix(uint_data, 9, 0);
pm_matrix->SetCountMatrix(uint_data, 9, 0); pm_matrix->SetCountMatrix(uint_data, 9, 0);
std::unique_ptr<PyramidMapMatrix> pm_matrix2(new PyramidMapMatrix()); std::shared_ptr<PyramidMapMatrix> pm_matrix2(new PyramidMapMatrix());
pm_matrix2->Init(*config); pm_matrix2->Init(*config);
pm_matrix2->SetIntensityMatrix(float_data, 9, 0); pm_matrix2->SetIntensityMatrix(float_data, 9, 0);
pm_matrix2->SetIntensityVarMatrix(float_data, 9, 0); pm_matrix2->SetIntensityVarMatrix(float_data, 9, 0);
...@@ -640,7 +641,7 @@ TEST_F(PyramidMapMatrixTestSuite, add_merge_get_base) { ...@@ -640,7 +641,7 @@ TEST_F(PyramidMapMatrixTestSuite, add_merge_get_base) {
std::unique_ptr<PyramidMapConfig> config( std::unique_ptr<PyramidMapConfig> config(
new PyramidMapConfig("lossy_full_alt")); new PyramidMapConfig("lossy_full_alt"));
config->SetMapNodeSize(3, 3); config->SetMapNodeSize(3, 3);
std::unique_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix()); std::shared_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix());
pm_matrix->Init(*config); pm_matrix->Init(*config);
EXPECT_EQ(pm_matrix->rows_mr_[0], 3); EXPECT_EQ(pm_matrix->rows_mr_[0], 3);
...@@ -684,7 +685,7 @@ TEST_F(PyramidMapMatrixTestSuite, BottomUp) { ...@@ -684,7 +685,7 @@ TEST_F(PyramidMapMatrixTestSuite, BottomUp) {
new PyramidMapConfig("lossy_full_alt")); new PyramidMapConfig("lossy_full_alt"));
config->SetMapNodeSize(4, 4); config->SetMapNodeSize(4, 4);
config->resolution_num_ = 2; config->resolution_num_ = 2;
std::unique_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix()); std::shared_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix());
pm_matrix->Init(*config); pm_matrix->Init(*config);
EXPECT_EQ(pm_matrix->rows_mr_[0], 4); EXPECT_EQ(pm_matrix->rows_mr_[0], 4);
...@@ -743,7 +744,7 @@ TEST_F(PyramidMapMatrixTestSuite, flags_are_false_and_resolution_are_two) { ...@@ -743,7 +744,7 @@ TEST_F(PyramidMapMatrixTestSuite, flags_are_false_and_resolution_are_two) {
config->has_ground_altitude_ = false; config->has_ground_altitude_ = false;
config->has_count_ = false; config->has_count_ = false;
config->has_ground_count_ = false; config->has_ground_count_ = false;
std::unique_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix()); std::shared_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix());
pm_matrix->Init(*config); pm_matrix->Init(*config);
// bottom up safe // bottom up safe
...@@ -760,7 +761,7 @@ TEST_F(PyramidMapMatrixTestSuite, check_const_matrix) { ...@@ -760,7 +761,7 @@ TEST_F(PyramidMapMatrixTestSuite, check_const_matrix) {
new PyramidMapConfig("lossy_full_alt")); new PyramidMapConfig("lossy_full_alt"));
config->SetMapNodeSize(2, 2); config->SetMapNodeSize(2, 2);
config->resolution_num_ = 1; config->resolution_num_ = 1;
std::unique_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix()); std::shared_ptr<PyramidMapMatrix> pm_matrix(new PyramidMapMatrix());
pm_matrix->Init(*config); pm_matrix->Init(*config);
const PyramidMapMatrix const_matrix(*pm_matrix); const PyramidMapMatrix const_matrix(*pm_matrix);
...@@ -781,7 +782,7 @@ TEST_F(PyramidMapMatrixTestSuite, check_const_matrix) { ...@@ -781,7 +782,7 @@ TEST_F(PyramidMapMatrixTestSuite, check_const_matrix) {
EXPECT_EQ((*const_matrix.GetGroundCountMatrix(0))[0][0], 0); EXPECT_EQ((*const_matrix.GetGroundCountMatrix(0))[0][0], 0);
// bad case 1: resolution is 1024 // bad case 1: resolution is 1024
std::unique_ptr<PyramidMapMatrix> pm_matrix2(new PyramidMapMatrix()); std::shared_ptr<PyramidMapMatrix> pm_matrix2(new PyramidMapMatrix());
pm_matrix2->Init(*config); pm_matrix2->Init(*config);
const PyramidMapMatrix const_matrix2(*pm_matrix2); const PyramidMapMatrix const_matrix2(*pm_matrix2);
EXPECT_EQ(const_matrix2.GetIntensityMatrixSafe(1024), nullptr); EXPECT_EQ(const_matrix2.GetIntensityMatrixSafe(1024), nullptr);
...@@ -801,7 +802,7 @@ TEST_F(PyramidMapMatrixTestSuite, check_const_matrix) { ...@@ -801,7 +802,7 @@ TEST_F(PyramidMapMatrixTestSuite, check_const_matrix) {
config->has_ground_altitude_ = false; config->has_ground_altitude_ = false;
config->has_count_ = false; config->has_count_ = false;
config->has_ground_count_ = false; config->has_ground_count_ = false;
std::unique_ptr<PyramidMapMatrix> pm_matrix3(new PyramidMapMatrix()); std::shared_ptr<PyramidMapMatrix> pm_matrix3(new PyramidMapMatrix());
pm_matrix3->Init(*config); pm_matrix3->Init(*config);
const PyramidMapMatrix const_matrix3(*pm_matrix3); const PyramidMapMatrix const_matrix3(*pm_matrix3);
EXPECT_EQ(const_matrix3.GetIntensityMatrixSafe(0), nullptr); EXPECT_EQ(const_matrix3.GetIntensityMatrixSafe(0), nullptr);
...@@ -813,6 +814,7 @@ TEST_F(PyramidMapMatrixTestSuite, check_const_matrix) { ...@@ -813,6 +814,7 @@ TEST_F(PyramidMapMatrixTestSuite, check_const_matrix) {
EXPECT_EQ(const_matrix3.GetGroundCountMatrixSafe(0), nullptr); EXPECT_EQ(const_matrix3.GetGroundCountMatrixSafe(0), nullptr);
} }
} // namespace pyramid_map
} // namespace msf } // namespace msf
} // namespace localization } // namespace localization
} // namespace apollo } // namespace apollo
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