(previous test problem has been fixed, please cr) perception: removed PCD...

(previous test problem has been fixed, please cr) perception: removed PCD files & modified true poses as fake ones (#1666)

* replace NULL as nullptr

* removed pcds & modifed true pose

* removed unused include

* fixed file system util test

* fixed pose util test

modules/perception/data/hm_tracker_test/.gitattributes

-*.pcd filter=lfs diff=lfs merge=lfs -text
\ No newline at end of file

modules/perception/data/hm_tracker_test/QN68P2_12_1476265365_1476265665_2.pose

-11989 1160300588.419051 428033.330463 4435145.010161 40.746964 -0.002165 -0.010956 -0.639926 0.768355
+11989 588.419051 33.330463 45.010161 40.746964 -0.002165 -0.010956 -0.639926 0.768355

modules/perception/data/hm_tracker_test/QN68P2_12_1476265365_1476265665_3.pose

-11990 1160300588.519102 428033.330382 4435145.010216 40.747129 -0.002152 -0.010966 -0.639940 0.768343
+11990 588.519102 33.330382 45.010216 40.747129 -0.002152 -0.010966 -0.639940 0.768343

modules/perception/data/hm_tracker_test/QN68P2_12_1476265365_1476265665_4.pose

-11991 1160300588.619153 428033.330347 4435145.010282 40.747194 -0.002133 -0.010945 -0.639944 0.768341
+11991 588.619153 33.330347 45.010282 40.747194 -0.002133 -0.010945 -0.639944 0.768341

modules/perception/data/hm_tracker_test/QN68P2_12_1476265365_1476265665_5.pose

-11992 1160300588.719204 428033.330361 4435145.010357 40.747331 -0.002134 -0.010937 -0.639935 0.768348
+11992 588.719204 33.330361 45.010357 40.747331 -0.002134 -0.010937 -0.639935 0.768348

modules/perception/data/hm_tracker_test/QN68P2_12_1476265365_1476265665_6.pose

-11993 1160300588.819255 428033.330328 4435145.010420 40.747546 -0.002154 -0.010940 -0.639938 0.768346
+11993 588.819255 33.330328 45.010420 40.747546 -0.002154 -0.010940 -0.639938 0.768346

modules/perception/data/hm_tracker_test/QN68P2_12_1476265365_1476265665_7.pose

-11994 1160300588.919307 428033.330290 4435145.010480 40.747756 -0.002180 -0.010939 -0.639941 0.768343
+11994 588.919307 33.330290 45.010480 40.747756 -0.002180 -0.010939 -0.639941 0.768343

modules/perception/data/hm_tracker_test/QN68P2_12_1476265365_1476265665_8.pose

-11995 1160300589.019364 428033.330300 4435145.010551 40.747892 -0.002173 -0.010936 -0.639935 0.768348
+11995 589.019364 33.330300 45.010551 40.747892 -0.002173 -0.010936 -0.639935 0.768348

modules/perception/data/hm_tracker_test/QN68P2_12_1476265365_1476265665_9.pose

-11996 1160300589.119415 428033.330241 4435145.010605 40.748109 -0.002156 -0.010970 -0.639944 0.768340
+11996 589.119415 33.330241 45.010605 40.748109 -0.002156 -0.010970 -0.639944 0.768340

modules/perception/obstacle/common/file_system_util_test.cc

@@ -24,15 +24,12 @@ namespace perception {
 
 TEST(FileSystemUtilTest, GetFileNamesInFolderById) {
   std::string data_path = "modules/perception/data/hm_tracker_test/";
-  std::vector<std::string> pcd_filenames;
-  GetFileNamesInFolderById(data_path, ".pcd", &pcd_filenames);
   std::vector<std::string> seg_filenames;
   GetFileNamesInFolderById(data_path, ".seg", &seg_filenames);
   std::vector<std::string> pose_filenames;
   GetFileNamesInFolderById(data_path, ".pose", &pose_filenames);
-  EXPECT_GT(pcd_filenames.size(), 0);
-  EXPECT_EQ(pcd_filenames.size(), seg_filenames.size());
-  EXPECT_EQ(pcd_filenames.size(), pose_filenames.size());
+  EXPECT_EQ(seg_filenames.size(), 8);
+  EXPECT_EQ(pose_filenames.size(), 8);
 }
 
 }  // namespace perception

modules/perception/obstacle/common/pose_util_test.cc

@@ -39,9 +39,9 @@ TEST_F(PoseUtilTest, ReadPoseFile) {
   double time_stamp;
   EXPECT_TRUE(ReadPoseFile(test_file, &pose, &frame_id, &time_stamp));
   EXPECT_EQ(frame_id, 11989);
-  EXPECT_EQ(time_stamp, 1160300588.419051);
-  EXPECT_EQ(pose(0, 3), 428033.330463);
-  EXPECT_EQ(pose(1, 3), 4435145.010161);
+  EXPECT_EQ(time_stamp, 588.419051);
+  EXPECT_EQ(pose(0, 3), 33.330463);
+  EXPECT_EQ(pose(1, 3), 45.010161);
   EXPECT_EQ(pose(2, 3), 40.746964);
 }
 

modules/perception/obstacle/lidar/tracker/hm_tracker/hm_tracker.cc

@@ -33,7 +33,7 @@ HmObjectTracker::HmObjectTracker(): matcher_method_(HUNGARIAN_MATCHER),
   filter_method_(KALMAN_FILTER),
   use_histogram_for_match_(false),
   histogram_bin_size_(10),
-  matcher_(NULL),
+  matcher_(nullptr),
   time_stamp_(0.0),
   valid_(false) {
 }
@@ -41,7 +41,7 @@ HmObjectTracker::HmObjectTracker(): matcher_method_(HUNGARIAN_MATCHER),
 HmObjectTracker::~HmObjectTracker() {
   if (matcher_) {
     delete matcher_;
-    matcher_ = NULL;
+    matcher_ = nullptr;
   }
 }
 
@@ -50,7 +50,7 @@ bool HmObjectTracker::Init() {
   using apollo::perception::ConfigManager;
   using apollo::perception::ModelConfig;
 
-  const ModelConfig* model_config = NULL;
+  const ModelConfig* model_config = nullptr;
   if (!ConfigManager::instance()->GetModelConfig(name(), &model_config)) {
     AERROR << "not found model config: " << name();
     return false;
@@ -371,14 +371,14 @@ bool HmObjectTracker::Track(const std::vector<ObjectPtr>& objects,
   const TrackerOptions& options,
   std::vector<ObjectPtr>* tracked_objects) {
   // A. track setup
-  if (tracked_objects == NULL)
+  if (tracked_objects == nullptr)
     return false;
   if (!valid_) {
     valid_ = true;
     return Initialize(objects, timestamp, options, tracked_objects);
   }
   Eigen::Matrix4d velo2world_pose = Eigen::Matrix4d::Identity();
-  if (options.velodyne_trans != NULL) {
+  if (options.velodyne_trans != nullptr) {
     velo2world_pose = *(options.velodyne_trans);
   } else {
     AERROR << "Input velodyne_trans is null";
@@ -419,7 +419,7 @@ bool HmObjectTracker::Track(const std::vector<ObjectPtr>& objects,
   UpdateUnassignedTracks(tracks_predict, unassigned_tracks, time_diff);
   DeleteLostTracks();
   // E.3 create new tracks for objects without associated tracks
-  CreateNewTracks(transformed_objects, unassigned_objects, time_diff);
+  CreateNewTracks(transformed_objects, unassigned_objects);
 
   // F. collect tracked results
   CollectTrackedResults(tracked_objects);
@@ -432,7 +432,7 @@ bool HmObjectTracker::Initialize(const std::vector<ObjectPtr>& objects,
   std::vector<ObjectPtr>* tracked_objects) {
   // A. track setup
   Eigen::Matrix4d velo2world_pose = Eigen::Matrix4d::Identity();
-  if (options.velodyne_trans != NULL) {
+  if (options.velodyne_trans != nullptr) {
     velo2world_pose = *(options.velodyne_trans);
   } else {
     AERROR << "Input velodyne_trans is null";
@@ -454,11 +454,9 @@ bool HmObjectTracker::Initialize(const std::vector<ObjectPtr>& objects,
   // C. create tracks
   std::vector<int> unassigned_objects;
   unassigned_objects.resize(transformed_objects.size());
-  for (size_t i = 0; i < transformed_objects.size(); i++) {
-    unassigned_objects[i] = i;
-  }
+  std::iota(unassigned_objects.begin(), unassigned_objects.end(), 0);
   double time_diff = 0.1;
-  CreateNewTracks(transformed_objects, unassigned_objects, time_diff);
+  CreateNewTracks(transformed_objects, unassigned_objects);
   time_stamp_ = timestamp;
 
   // D. collect tracked results
@@ -588,8 +586,7 @@ void HmObjectTracker::UpdateUnassignedTracks(
 
 void HmObjectTracker::CreateNewTracks(
   const std::vector<TrackedObjectPtr>& new_objects,
-  const std::vector<int>& unassigned_objects,
-  const double& time_diff) {
+  const std::vector<int>& unassigned_objects) {
   // Create new tracks for objects without matched tracks
   for (size_t i = 0; i < unassigned_objects.size(); i++) {
     int obj_id = unassigned_objects[i];

modules/perception/obstacle/lidar/tracker/hm_tracker/hm_tracker.h

@@ -176,12 +176,10 @@ class HmObjectTracker : public BaseTracker{
   // @brief create new tracks for objects without matched track
   // @params[IN] new_objects: recently detected objects
   // @params[IN] unassigned_objects: index of unassigned objects
-  // @params[IN] time_diff: time interval for updating
   // @return nothing
   void CreateNewTracks(
     const std::vector<TrackedObjectPtr>& new_objects,
-    const std::vector<int>& unassigned_objects,
-    const double& time_diff);
+    const std::vector<int>& unassigned_objects);
 
   // @brief delete lost tracks
   // @return nothing

modules/perception/obstacle/lidar/tracker/hm_tracker/hm_tracker_test.cc

@@ -16,9 +16,6 @@
 
 #include "modules/perception/obstacle/lidar/tracker/hm_tracker/hm_tracker.h"
 
-#include <pcl/io/pcd_io.h>
-#include <pcl/kdtree/kdtree.h>
-#include <pcl/kdtree/kdtree_flann.h>
 #include <fstream>
 #include <iomanip>
 #include <map>
@@ -57,9 +54,9 @@ class HmObjectTrackerTest : public testing::Test {
   }
   void TearDown() {
     delete hm_tracker_;
-    hm_tracker_ = NULL;
+    hm_tracker_ = nullptr;
     delete object_builder_;
-    object_builder_ = NULL;
+    object_builder_ = nullptr;
   }
 
  protected:
@@ -92,47 +89,21 @@ bool ConstructObjects(const std::string& filename,
   return true;
 }
 
-bool LoadPclPcds(const std::string filename,
-                 pcl_util::PointCloudPtr* cloud_out) {
-  pcl::PointCloud<pcl_util::PointXYZIT> org_cloud;
-  if (pcl::io::loadPCDFile(filename, org_cloud) < 0) {
-    AERROR << "failed to load pcd file: " << filename;
-    return false;
-  }
-  (*cloud_out)->points.reserve(org_cloud.points.size());
-  for (size_t i = 0; i < org_cloud.points.size(); ++i) {
-    pcl_util::Point pt;
-    pt.x = org_cloud.points[i].x;
-    pt.y = org_cloud.points[i].y;
-    pt.z = org_cloud.points[i].z;
-    pt.intensity = org_cloud.points[i].intensity;
-    if (isnan(org_cloud.points[i].x)) continue;
-    (*cloud_out)->push_back(pt);
-  }
-  return true;
-}
-
 TEST_F(HmObjectTrackerTest, Track) {
   // test initialization of hm tracker
   EXPECT_TRUE(hm_tracker_->Init());
   // test tracking via hm tracker
   std::string data_path = "modules/perception/data/hm_tracker_test/";
-  std::vector<std::string> pcd_filenames;
-  GetFileNamesInFolderById(data_path, ".pcd", &pcd_filenames);
   std::vector<std::string> seg_filenames;
   GetFileNamesInFolderById(data_path, ".seg", &seg_filenames);
   std::vector<std::string> pose_filenames;
   GetFileNamesInFolderById(data_path, ".pose", &pose_filenames);
   int frame_id = -1;
   double time_stamp = 0.0;
-  EXPECT_GT(pcd_filenames.size(), 0);
-  EXPECT_EQ(pcd_filenames.size(), seg_filenames.size());
-  EXPECT_EQ(pcd_filenames.size(), pose_filenames.size());
+  EXPECT_GT(seg_filenames.size(), 0);
+  EXPECT_EQ(seg_filenames.size(), pose_filenames.size());
   Eigen::Vector3d global_offset(0, 0, 0);
   for (size_t i = 0; i < seg_filenames.size(); ++i) {
-    // load frame clouds
-    pcl_util::PointCloudPtr cloud(new pcl_util::PointCloud);
-    EXPECT_TRUE(LoadPclPcds(data_path + pcd_filenames[i], &cloud));
     // read pose
     Eigen::Matrix4d pose = Eigen::Matrix4d::Identity();
     if (!ReadPoseFile(data_path + pose_filenames[i], &pose, &frame_id,

modules/perception/obstacle/lidar/tracker/hm_tracker/object_track.cc

@@ -129,7 +129,7 @@ ObjectTrack::ObjectTrack(TrackedObjectPtr obj) {
 ObjectTrack::~ObjectTrack() {
   if (filter_) {
     delete filter_;
-    filter_ = NULL;
+    filter_ = nullptr;
   }
 }
 
@@ -415,7 +415,7 @@ void ObjectTrackSet::Clear() {
   for (size_t i = 0; i < tracks_.size(); i++) {
     if (tracks_[i]) {
       delete (tracks_[i]);
-      tracks_[i] = NULL;
+      tracks_[i] = nullptr;
     }
   }
   tracks_.clear();
@@ -448,9 +448,9 @@ int ObjectTrackSet::RemoveLostTracks() {
   // remove lost tracks
   int no_removed = tracks_.size() - track_num;
   for (size_t i = track_num; i < tracks_.size(); ++i) {
-    if (tracks_[i] != NULL) {
+    if (tracks_[i] != nullptr) {
       delete (tracks_[i]);
-      tracks_[i] = NULL;
+      tracks_[i] = nullptr;
     }
   }
   tracks_.resize(track_num);