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体验新版 GitCode,发现更多精彩内容 >>
提交
8eb2a3f4
编写于
10月 01, 2018
作者:
J
Jiangtao Hu
提交者:
Liangliang Zhang
10月 01, 2018
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电子邮件补丁
差异文件
perception: add ground_service_detector_test into build.
上级
05e01702
变更
3
隐藏空白更改
内联
并排
Showing
3 changed file
with
28 addition
and
7 deletion
+28
-7
modules/perception/lidar/lib/ground_detector/ground_service_detector/BUILD
...n/lidar/lib/ground_detector/ground_service_detector/BUILD
+15
-1
modules/perception/lidar/lib/ground_detector/ground_service_detector/ground_service_detector_test.cc
...r/ground_service_detector/ground_service_detector_test.cc
+9
-6
modules/perception/lidar/lib/scene_manager/ground_service/ground_service.h
...n/lidar/lib/scene_manager/ground_service/ground_service.h
+4
-0
未找到文件。
modules/perception/lidar/lib/ground_detector/ground_service_detector/BUILD
浏览文件 @
8eb2a3f4
...
...
@@ -13,7 +13,7 @@ cc_library(
deps
=
[
"@eigen"
,
"//framework:cybertron"
,
"//modules/common/util"
,
"//modules/common/util"
,
"//modules/perception/base:base_type"
,
"//modules/perception/lib/config_manager"
,
"//modules/perception/lib/io:file_util"
,
...
...
@@ -31,4 +31,18 @@ cc_library(
],
)
cc_test
(
name
=
"ground_service_detector_test"
,
size
=
"small"
,
srcs
=
[
"ground_service_detector_test.cc"
,
],
deps
=
[
":ground_service_detector"
,
"@gtest//:main"
,
"//modules/perception/common/io:io_util"
,
],
)
cpplint
()
modules/perception/lidar/
test/lidar_lib_
ground_service_detector_test.cc
→
modules/perception/lidar/
lib/ground_detector/ground_service_detector/
ground_service_detector_test.cc
浏览文件 @
8eb2a3f4
...
...
@@ -20,6 +20,9 @@
#include "modules/perception/lib/config_manager/config_manager.h"
#include "modules/perception/lidar/lib/ground_detector/ground_service_detector/ground_service_detector.h"
DECLARE_string
(
work_root
);
DECLARE_string
(
config_manager_path
);
namespace
apollo
{
namespace
perception
{
namespace
lidar
{
...
...
@@ -27,9 +30,9 @@ namespace lidar {
class
LidarLibGroundServiceDetectorTest
:
public
testing
::
Test
{
protected:
void
SetUp
()
{
char
*
cybertron_path
=
"CYBERTRON_PATH="
;
char
cybertron_path
[]
=
"CYBERTRON_PATH="
;
putenv
(
cybertron_path
);
char
*
module_path
=
"MODULE_PATH="
;
char
module_path
[]
=
"MODULE_PATH="
;
putenv
(
module_path
);
FLAGS_work_root
=
"/apollo/modules/perception/testdata/"
"lidar/lib/ground_detector/ground_service_detector"
;
...
...
@@ -115,9 +118,9 @@ TEST_F(LidarLibGroundServiceDetectorTest,
float
out_gt
=
0.
f
;
float
out
=
0.
f
;
GroundNode
*
node_ptr
=
ground_service_cast
->
ground_content_ref_
->
grid_
.
DataPtr
();
ground_service_cast
->
ground_content_ref_
->
grid_center_
<<
461957.33791688998
,
4404672.5859791003
,
19.143968966679999
;
ground_service_cast
->
GetGroundServiceContent
()
->
grid_
.
DataPtr
();
ground_service_cast
->
GetGroundServiceContent
()
->
grid_center_
<<
461957.33791688998
,
4404672.5859791003
,
19.143968966679999
;
LoadPlanes
(
"/apollo/modules/perception/testdata/lidar/lib/ground_detector/"
"ground_service_detector/data/resources/planes.txt"
,
...
...
@@ -137,7 +140,7 @@ TEST_F(LidarLibGroundServiceDetectorTest,
frame
.
cloud
->
push_back
(
local_pt
);
}
EXPECT_TRUE
(
ground_service_detector
.
Detect
(
GroundDetectorOptions
(),
&
frame
));
for
(
in
t
i
=
0
;
i
<
frame
.
world_cloud
->
size
();
++
i
)
{
for
(
size_
t
i
=
0
;
i
<
frame
.
world_cloud
->
size
();
++
i
)
{
out_gt
=
height_gts
[
i
];
out
=
frame
.
cloud
->
points_height
(
i
);
EXPECT_NEAR
(
out_gt
,
out
,
1e-6
);
...
...
modules/perception/lidar/lib/scene_manager/ground_service/ground_service.h
浏览文件 @
8eb2a3f4
...
...
@@ -79,6 +79,10 @@ class GroundService : public SceneService {
// @return: name
std
::
string
Name
()
const
override
{
return
"GroundService"
;
}
GroundServiceContent
*
GetGroundServiceContent
()
const
{
return
ground_content_ref_
;
}
public:
// @brief: Query point to ground distance
// @param [in]: point in world frame
...
...
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