Perception: add convex_hull_2d_test

modules/perception/base/point_cloud.h

@@ -414,6 +414,10 @@ class AttributePointCloud : public PointCloud<PointT> {
   std::vector<double>* mutable_points_timestamp() { return &points_timestamp_; }
 
   const std::vector<float>& points_height() const { return points_height_; }
+  float points_height(size_t i) const { return points_height_[i]; }
+  void SetPointHeight(size_t i, size_t j, float height) {
+    points_height_[i * width_ + j] = height;
+  }
   std::vector<float>* mutable_points_height() { return &points_height_; }
 
   const std::vector<int32_t>& points_beam_id() const { return points_beam_id_; }

modules/perception/common/geometry/BUILD

@@ -101,4 +101,17 @@ cc_test(
     ],
 )
 
+cc_test(
+    name = "convex_hull_2d_test",
+    size = "small",
+    srcs = [
+        "convex_hull_2d_test.cc",
+    ],
+    deps = [
+        ":convex_hull_2d",
+        "//modules/perception/base:point_cloud",
+        "@gtest//:main",
+    ],
+)
+
 cpplint()

modules/perception/common/geometry/convex_hull_2d_test.cc

@@ -17,16 +17,19 @@
 
 #include <cfloat>
 #include <limits>
+#include <memory>
 #include "gtest/gtest.h"
 
+#include "modules/perception/base/point.h"
 #include "modules/perception/base/point_cloud.h"
 
 namespace apollo {
 namespace perception {
 namespace common {
 
-using PointF = apollo::perception::base::PointXYZIT<float>;
-using PointFCloud = apollo::perception::base::PointCloud<PointF>;
+using apollo::perception::base::PointF;
+using PointFCloud = apollo::perception::base::AttributePointCloud<PointF>;
+using PointFCloudPtr = std::shared_ptr<PointFCloud>;
 
 TEST(ConvexHull2DTest, convex_hull_2d) {
   ConvexHull2D<PointFCloud, PointFCloud> convex_hull_2d;
@@ -34,10 +37,9 @@ TEST(ConvexHull2DTest, convex_hull_2d) {
   bool flag = true;
   flag = convex_hull_2d.GetConvexHull(pointcloud_in, &pointcloud_out);
   EXPECT_FALSE(flag);
-  // float heigh = 0.0f;
+  PointF pt;
   for (size_t i = 0; i < 10; i++) {
     for (size_t j = 0; j < 10; j++) {
-      PointF pt;
       pt.x = i;
       pt.y = j;
       pt.z = 0.0;
@@ -100,15 +102,14 @@ TEST(ConvexHull2DTest1, convex_hull_2d1) {
       PointFCloudPtr(new PointFCloud(128, 128, PointF()));
   PointFCloud pointcloud_out;
   PointF tmp_pt;
-  // float heigh = 0.0f;
+  float height = 0.0f;
   for (size_t i = 0; i < 128; i++) {
     for (size_t j = 0; j < 128; j++) {
       tmp_pt.x = 1.f * i;
       tmp_pt.y = 1.f * j;
       tmp_pt.z = 1.f * i;
-      float heigh = i * 1.0f;
       *(pointcloud_in_ptr->at(i, j)) = tmp_pt;
-      *(pointcloud_in_ptr->points_height(i, j)) = heigh;
+      pointcloud_in_ptr->SetPointHeight(i, j, height);
     }
   }
   bool flag = false;