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体验新版 GitCode,发现更多精彩内容 >>
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b22476e6
编写于
9月 22, 2018
作者:
L
Liangliang Zhang
浏览文件
操作
浏览文件
下载
电子邮件补丁
差异文件
Perception: added secure_matrix and hungarian optimizer.
上级
8e9dd92c
变更
6
展开全部
显示空白变更内容
内联
并排
Showing
6 changed file
with
1260 addition
and
5 deletion
+1260
-5
apollo.sh
apollo.sh
+13
-5
modules/perception/common/graph/BUILD
modules/perception/common/graph/BUILD
+44
-0
modules/perception/common/graph/hungarian_optimizer.h
modules/perception/common/graph/hungarian_optimizer.h
+730
-0
modules/perception/common/graph/hungarian_optimizer_test.cc
modules/perception/common/graph/hungarian_optimizer_test.cc
+311
-0
modules/perception/common/graph/secure_matrix.h
modules/perception/common/graph/secure_matrix.h
+91
-0
modules/perception/common/graph/secure_matrix_test.cc
modules/perception/common/graph/secure_matrix_test.cc
+71
-0
未找到文件。
apollo.sh
浏览文件 @
b22476e6
...
...
@@ -117,8 +117,7 @@ function generate_build_targets() {
`
bazel query //modules/localization/msf/local_tool/local_visualization/...
`
//modules/map/...
//modules/monitor/...
//modules/perception/common/...
//modules/perception/proto/...
//modules/perception/...
//modules/planning/...
//modules/prediction/...
//modules/routing/...
...
...
@@ -209,17 +208,26 @@ function cibuild() {
info
"Building with
$JOB_ARG
for
$MACHINE_ARCH
"
BUILD_TARGETS
=
"
//modules/canbus/...
//modules/common/...
//modules/control/...
//modules/dreamview/...
//modules/drivers/radar/conti_radar/...
//modules/drivers/gnss/...
//modules/drivers/velodyne/...
//modules/drivers/usb_cam/...
//modules/drivers/radar/ultrasonic_radar/...
//modules/guardian/...
//modules/localization/proto/...
//modules/localization/rtk/...
`
bazel query //modules/localization/msf/... except //modules/localization/msf/local_tool/...
`
`
bazel query //modules/localization/msf/local_tool/local_visualization/...
`
//modules/
perception/common
/...
//modules/perception/
proto/
...
//modules/
map
/...
//modules/perception/...
//modules/planning/...
//modules/prediction/...
//modules/routing/..."
//modules/routing/...
//modules/third_party_perception/..."
bazel build
$JOB_ARG
$DEFINES
$@
$BUILD_TARGETS
...
...
modules/perception/common/graph/BUILD
浏览文件 @
b22476e6
...
...
@@ -50,4 +50,48 @@ cc_test(
],
)
cc_library
(
name
=
"secure_matrix"
,
hdrs
=
[
"secure_matrix.h"
,
],
deps
=
[
"@eigen"
,
],
)
cc_test
(
name
=
"secure_matrix_test"
,
size
=
"small"
,
srcs
=
[
"secure_matrix_test.cc"
,
],
deps
=
[
":secure_matrix"
,
"@gtest//:main"
,
"@eigen"
,
],
)
cc_library
(
name
=
"hungarian_optimizer"
,
hdrs
=
[
"hungarian_optimizer.h"
,
],
deps
=
[
"@eigen"
,
],
)
cc_test
(
name
=
"hungarian_optimizer_test"
,
size
=
"small"
,
srcs
=
[
"hungarian_optimizer_test.cc"
,
],
deps
=
[
":hungarian_optimizer"
,
":secure_matrix"
,
"@gtest//:main"
,
],
)
cpplint
()
modules/perception/common/graph/hungarian_optimizer.h
0 → 100644
浏览文件 @
b22476e6
此差异已折叠。
点击以展开。
modules/perception/common/graph/hungarian_optimizer_test.cc
0 → 100644
浏览文件 @
b22476e6
/******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/perception/common/graph/hungarian_optimizer.h"
#include "Eigen/Core"
#include "gtest/gtest.h"
namespace
apollo
{
namespace
perception
{
namespace
common
{
class
HungarianOptimizerTest
:
public
testing
::
Test
{
public:
HungarianOptimizerTest
()
:
optimizer_
(
nullptr
)
{}
~
HungarianOptimizerTest
()
{}
protected:
void
SetUp
()
{
optimizer_
=
new
HungarianOptimizer
<
float
>
();
}
void
TearDown
()
{
delete
optimizer_
;
optimizer_
=
nullptr
;
}
public:
HungarianOptimizer
<
float
>*
optimizer_
;
};
// class HungarianOptimizerTest
TEST_F
(
HungarianOptimizerTest
,
test_Minimize
)
{
std
::
vector
<
std
::
pair
<
size_t
,
size_t
>>
assignments
;
optimizer_
->
costs
()
->
Reserve
(
1000
,
1000
);
/* case 1: most basic one
* costs:
* 0.1, 1.0
* 1.0, 0.1
* matches:
* (0->0, 1->1) */
optimizer_
->
costs
()
->
Resize
(
2
,
2
);
(
*
optimizer_
->
costs
())(
0
,
0
)
=
0.1
;
(
*
optimizer_
->
costs
())(
1
,
0
)
=
1.0
;
(
*
optimizer_
->
costs
())(
0
,
1
)
=
1.0
;
(
*
optimizer_
->
costs
())(
1
,
1
)
=
0.1
;
optimizer_
->
Minimize
(
&
assignments
);
optimizer_
->
PrintMatrix
();
EXPECT_EQ
(
2
,
assignments
.
size
());
EXPECT_EQ
(
0
,
assignments
[
0
].
first
);
EXPECT_EQ
(
0
,
assignments
[
0
].
second
);
EXPECT_EQ
(
1
,
assignments
[
1
].
first
);
EXPECT_EQ
(
1
,
assignments
[
1
].
second
);
/* case 2: special one with all 0s
* costs:
* 0.0, 0.0
* 0.0, 0.0
* matches:
* (0->0, 1->1) */
optimizer_
->
costs
()
->
Resize
(
2
,
2
);
(
*
optimizer_
->
costs
())(
0
,
0
)
=
0.0
;
(
*
optimizer_
->
costs
())(
0
,
1
)
=
0.0
;
(
*
optimizer_
->
costs
())(
1
,
0
)
=
0.0
;
(
*
optimizer_
->
costs
())(
1
,
1
)
=
0.0
;
optimizer_
->
Minimize
(
&
assignments
);
EXPECT_EQ
(
2
,
assignments
.
size
());
EXPECT_EQ
(
0
,
assignments
[
0
].
first
);
EXPECT_EQ
(
0
,
assignments
[
0
].
second
);
EXPECT_EQ
(
1
,
assignments
[
1
].
first
);
EXPECT_EQ
(
1
,
assignments
[
1
].
second
);
/* case 3: special one with all the same values
* costs:
* 3.0, 3.0
* 3.0, 3.0
* matches:
* (0->0, 1->1) */
optimizer_
->
costs
()
->
Resize
(
2
,
2
);
(
*
optimizer_
->
costs
())(
0
,
0
)
=
3.0
;
(
*
optimizer_
->
costs
())(
0
,
1
)
=
3.0
;
(
*
optimizer_
->
costs
())(
1
,
0
)
=
3.0
;
(
*
optimizer_
->
costs
())(
1
,
1
)
=
3.0
;
optimizer_
->
Minimize
(
&
assignments
);
EXPECT_EQ
(
2
,
assignments
.
size
());
EXPECT_EQ
(
0
,
assignments
[
0
].
first
);
EXPECT_EQ
(
0
,
assignments
[
0
].
second
);
EXPECT_EQ
(
1
,
assignments
[
1
].
first
);
EXPECT_EQ
(
1
,
assignments
[
1
].
second
);
/* case 4: further one with more cols
* costs:
* 4.7, 3.8, 1.0, 2.0
* 4.1, 3.0, 2.0, 3.0
* 1.0, 2.0, 4.7, 4.9
* matches:
* (0->2, 1->1, 2->0) */
optimizer_
->
costs
()
->
Resize
(
3
,
4
);
(
*
optimizer_
->
costs
())(
0
,
0
)
=
4.7
;
(
*
optimizer_
->
costs
())(
0
,
1
)
=
3.8
;
(
*
optimizer_
->
costs
())(
0
,
2
)
=
1.0
;
(
*
optimizer_
->
costs
())(
0
,
3
)
=
2.0
;
(
*
optimizer_
->
costs
())(
1
,
0
)
=
4.1
;
(
*
optimizer_
->
costs
())(
1
,
1
)
=
3.0
;
(
*
optimizer_
->
costs
())(
1
,
2
)
=
2.0
;
(
*
optimizer_
->
costs
())(
1
,
3
)
=
3.0
;
(
*
optimizer_
->
costs
())(
2
,
0
)
=
1.0
;
(
*
optimizer_
->
costs
())(
2
,
1
)
=
2.0
;
(
*
optimizer_
->
costs
())(
2
,
2
)
=
4.7
;
(
*
optimizer_
->
costs
())(
2
,
3
)
=
4.9
;
optimizer_
->
Minimize
(
&
assignments
);
EXPECT_EQ
(
3
,
assignments
.
size
());
EXPECT_EQ
(
0
,
assignments
[
0
].
first
);
EXPECT_EQ
(
2
,
assignments
[
0
].
second
);
EXPECT_EQ
(
1
,
assignments
[
1
].
first
);
EXPECT_EQ
(
1
,
assignments
[
1
].
second
);
EXPECT_EQ
(
2
,
assignments
[
2
].
first
);
EXPECT_EQ
(
0
,
assignments
[
2
].
second
);
/* case 5: further one with more rows
* costs:
* 4.7, 3.8, 1.0
* 4.1, 3.0, 2.0
* 1.0, 2.0, 4.7
* 3.2, 2.1, 0.5
* matches:
* (0->2, 2->0, 3->1) */
optimizer_
->
costs
()
->
Resize
(
4
,
3
);
(
*
optimizer_
->
costs
())(
0
,
0
)
=
4.7
;
(
*
optimizer_
->
costs
())(
0
,
1
)
=
3.8
;
(
*
optimizer_
->
costs
())(
0
,
2
)
=
1.0
;
(
*
optimizer_
->
costs
())(
1
,
0
)
=
4.1
;
(
*
optimizer_
->
costs
())(
1
,
1
)
=
3.0
;
(
*
optimizer_
->
costs
())(
1
,
2
)
=
2.0
;
(
*
optimizer_
->
costs
())(
2
,
0
)
=
1.0
;
(
*
optimizer_
->
costs
())(
2
,
1
)
=
2.0
;
(
*
optimizer_
->
costs
())(
2
,
2
)
=
4.7
;
(
*
optimizer_
->
costs
())(
3
,
0
)
=
3.2
;
(
*
optimizer_
->
costs
())(
3
,
1
)
=
2.1
;
(
*
optimizer_
->
costs
())(
3
,
2
)
=
0.5
;
optimizer_
->
Minimize
(
&
assignments
);
EXPECT_EQ
(
3
,
assignments
.
size
());
EXPECT_EQ
(
0
,
assignments
[
0
].
first
);
EXPECT_EQ
(
2
,
assignments
[
0
].
second
);
EXPECT_EQ
(
2
,
assignments
[
1
].
first
);
EXPECT_EQ
(
0
,
assignments
[
1
].
second
);
EXPECT_EQ
(
3
,
assignments
[
2
].
first
);
EXPECT_EQ
(
1
,
assignments
[
2
].
second
);
/* case 6: empty one */
optimizer_
->
costs
()
->
Resize
(
0
,
0
);
optimizer_
->
Minimize
(
&
assignments
);
EXPECT_EQ
(
0
,
assignments
.
size
());
}
TEST_F
(
HungarianOptimizerTest
,
test_Maximize
)
{
std
::
vector
<
std
::
pair
<
size_t
,
size_t
>>
assignments
;
optimizer_
->
costs
()
->
Reserve
(
1000
,
1000
);
/* case 1: most basic one
* costs:
* 0.1, 1.0
* 1.0, 0.1
* matches:
* (0->1, 1->0) */
optimizer_
->
costs
()
->
Resize
(
2
,
2
);
(
*
optimizer_
->
costs
())(
0
,
0
)
=
0.1
;
(
*
optimizer_
->
costs
())(
1
,
0
)
=
1.0
;
(
*
optimizer_
->
costs
())(
0
,
1
)
=
1.0
;
(
*
optimizer_
->
costs
())(
1
,
1
)
=
0.1
;
optimizer_
->
Maximize
(
&
assignments
);
EXPECT_EQ
(
2
,
assignments
.
size
());
EXPECT_EQ
(
0
,
assignments
[
0
].
first
);
EXPECT_EQ
(
1
,
assignments
[
0
].
second
);
EXPECT_EQ
(
1
,
assignments
[
1
].
first
);
EXPECT_EQ
(
0
,
assignments
[
1
].
second
);
/* case 2: special one with all 0s
* costs:
* 0.0, 0.0
* 0.0, 0.0
* matches:
* (0->0, 1->1) */
optimizer_
->
costs
()
->
Resize
(
2
,
2
);
(
*
optimizer_
->
costs
())(
0
,
0
)
=
0.0
;
(
*
optimizer_
->
costs
())(
0
,
1
)
=
0.0
;
(
*
optimizer_
->
costs
())(
1
,
0
)
=
0.0
;
(
*
optimizer_
->
costs
())(
1
,
1
)
=
0.0
;
optimizer_
->
Maximize
(
&
assignments
);
EXPECT_EQ
(
2
,
assignments
.
size
());
EXPECT_EQ
(
0
,
assignments
[
0
].
first
);
EXPECT_EQ
(
0
,
assignments
[
0
].
second
);
EXPECT_EQ
(
1
,
assignments
[
1
].
first
);
EXPECT_EQ
(
1
,
assignments
[
1
].
second
);
/* case 3: special one with all the same values
* costs:
* 3.0, 3.0
* 3.0, 3.0
* matches:
* (0->0, 1->1) */
optimizer_
->
costs
()
->
Resize
(
2
,
2
);
(
*
optimizer_
->
costs
())(
0
,
0
)
=
3.0
;
(
*
optimizer_
->
costs
())(
0
,
1
)
=
3.0
;
(
*
optimizer_
->
costs
())(
1
,
0
)
=
3.0
;
(
*
optimizer_
->
costs
())(
1
,
1
)
=
3.0
;
optimizer_
->
Maximize
(
&
assignments
);
EXPECT_EQ
(
2
,
assignments
.
size
());
EXPECT_EQ
(
0
,
assignments
[
0
].
first
);
EXPECT_EQ
(
0
,
assignments
[
0
].
second
);
EXPECT_EQ
(
1
,
assignments
[
1
].
first
);
EXPECT_EQ
(
1
,
assignments
[
1
].
second
);
/* case 4: further one with more cols
* costs:
* 4.7, 3.8, 1.0, 2.0
* 4.1, 3.0, 2.0, 3.0
* 1.0, 2.0, 4.7, 4.9
* matches:
* (0->1, 1->0, 2->3) */
optimizer_
->
costs
()
->
Resize
(
3
,
4
);
(
*
optimizer_
->
costs
())(
0
,
0
)
=
4.7
;
(
*
optimizer_
->
costs
())(
0
,
1
)
=
3.8
;
(
*
optimizer_
->
costs
())(
0
,
2
)
=
1.0
;
(
*
optimizer_
->
costs
())(
0
,
3
)
=
2.0
;
(
*
optimizer_
->
costs
())(
1
,
0
)
=
4.1
;
(
*
optimizer_
->
costs
())(
1
,
1
)
=
3.0
;
(
*
optimizer_
->
costs
())(
1
,
2
)
=
2.0
;
(
*
optimizer_
->
costs
())(
1
,
3
)
=
3.0
;
(
*
optimizer_
->
costs
())(
2
,
0
)
=
1.0
;
(
*
optimizer_
->
costs
())(
2
,
1
)
=
2.0
;
(
*
optimizer_
->
costs
())(
2
,
2
)
=
4.7
;
(
*
optimizer_
->
costs
())(
2
,
3
)
=
4.9
;
optimizer_
->
Maximize
(
&
assignments
);
EXPECT_EQ
(
3
,
assignments
.
size
());
EXPECT_EQ
(
0
,
assignments
[
0
].
first
);
EXPECT_EQ
(
1
,
assignments
[
0
].
second
);
EXPECT_EQ
(
1
,
assignments
[
1
].
first
);
EXPECT_EQ
(
0
,
assignments
[
1
].
second
);
EXPECT_EQ
(
2
,
assignments
[
2
].
first
);
EXPECT_EQ
(
3
,
assignments
[
2
].
second
);
/* case 5: further one with more rows
* costs:
* 4.7, 3.8, 1.0
* 4.1, 3.0, 2.0
* 1.0, 2.0, 4.7
* 3.2, 2.1, 0.5
* matches:
* (0->1, 1->0, 2->2) */
optimizer_
->
costs
()
->
Resize
(
4
,
3
);
(
*
optimizer_
->
costs
())(
0
,
0
)
=
4.7
;
(
*
optimizer_
->
costs
())(
0
,
1
)
=
3.8
;
(
*
optimizer_
->
costs
())(
0
,
2
)
=
1.0
;
(
*
optimizer_
->
costs
())(
1
,
0
)
=
4.1
;
(
*
optimizer_
->
costs
())(
1
,
1
)
=
3.0
;
(
*
optimizer_
->
costs
())(
1
,
2
)
=
2.0
;
(
*
optimizer_
->
costs
())(
2
,
0
)
=
1.0
;
(
*
optimizer_
->
costs
())(
2
,
1
)
=
2.0
;
(
*
optimizer_
->
costs
())(
2
,
2
)
=
4.7
;
(
*
optimizer_
->
costs
())(
3
,
0
)
=
3.2
;
(
*
optimizer_
->
costs
())(
3
,
1
)
=
2.1
;
(
*
optimizer_
->
costs
())(
3
,
2
)
=
0.5
;
optimizer_
->
Maximize
(
&
assignments
);
EXPECT_EQ
(
3
,
assignments
.
size
());
EXPECT_EQ
(
0
,
assignments
[
0
].
first
);
EXPECT_EQ
(
1
,
assignments
[
0
].
second
);
EXPECT_EQ
(
1
,
assignments
[
1
].
first
);
EXPECT_EQ
(
0
,
assignments
[
1
].
second
);
EXPECT_EQ
(
2
,
assignments
[
2
].
first
);
EXPECT_EQ
(
2
,
assignments
[
2
].
second
);
/* case 6: empty one */
optimizer_
->
costs
()
->
Resize
(
0
,
0
);
optimizer_
->
Maximize
(
&
assignments
);
EXPECT_EQ
(
0
,
assignments
.
size
());
}
}
// namespace common
}
// namespace perception
}
// namespace apollo
modules/perception/common/graph/secure_matrix.h
0 → 100644
浏览文件 @
b22476e6
/******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#ifndef MODULES_PERCEPTION_COMMON_GRAPH_SECURE_MATRIX_H_
#define MODULES_PERCEPTION_COMMON_GRAPH_SECURE_MATRIX_H_
#include <memory>
#include "Eigen/Dense"
namespace
apollo
{
namespace
perception
{
namespace
common
{
template
<
typename
T
>
class
SecureMat
{
public:
SecureMat
()
:
height_
(
0
),
width_
(
0
)
{
Reserve
(
max_height_
,
max_width_
);
}
size_t
height
()
{
return
height_
;
}
size_t
width
()
{
return
width_
;
}
/* @brief: reserve memory of SecureMat
* @params[IN] reserve_height: height of reserve memory
* @params[IN] reserve_width: width of reserve memory
* @return nothing */
void
Reserve
(
const
size_t
reserve_height
,
const
size_t
reserve_width
)
{
max_height_
=
(
reserve_height
>
max_height_
)
?
reserve_height
:
max_height_
;
max_width_
=
(
reserve_width
>
max_width_
)
?
reserve_width
:
max_width_
;
mat_
.
resize
(
max_height_
,
max_width_
);
}
/* @brief: resize memory of SecureMat
* @params[IN] resize_height: height of resize memory
* @params[IN] resize_width: width of resize memory
* @return nothing */
void
Resize
(
const
size_t
resize_height
,
const
size_t
resize_width
)
{
height_
=
resize_height
;
width_
=
resize_width
;
if
(
resize_height
<=
max_height_
&&
resize_width
<=
max_width_
)
{
return
;
}
max_height_
=
(
resize_height
>
max_height_
)
?
resize_height
:
max_height_
;
max_width_
=
(
resize_width
>
max_width_
)
?
resize_width
:
max_width_
;
mat_
.
resize
(
max_height_
,
max_width_
);
}
void
ToString
(
std
::
ostream
*
out_stream
)
{
std
::
ostream
&
stream
=
*
out_stream
;
for
(
size_t
row
=
0
;
row
<
height_
;
++
row
)
{
for
(
size_t
col
=
0
;
col
<
width_
;
++
col
)
{
stream
<<
mat_
(
row
,
col
)
<<
"
\t
"
;
}
stream
<<
"
\n
"
;
}
}
inline
const
T
&
operator
()(
const
size_t
row
,
const
size_t
col
)
const
{
return
mat_
(
row
,
col
);
}
inline
T
&
operator
()(
const
size_t
row
,
const
size_t
col
)
{
return
mat_
(
row
,
col
);
}
private:
Eigen
::
Matrix
<
T
,
Eigen
::
Dynamic
,
Eigen
::
Dynamic
>
mat_
;
size_t
max_height_
=
1000
;
size_t
max_width_
=
1000
;
size_t
height_
=
0
;
size_t
width_
=
0
;
};
// class SecureMat
}
// namespace common
}
// namespace perception
}
// namespace apollo
#endif // MODULES_PERCEPTION_COMMON_GRAPH_SECURE_MATRIX_H_
modules/perception/common/graph/secure_matrix_test.cc
0 → 100644
浏览文件 @
b22476e6
/******************************************************************************
* Copyright 2018 The Apollo Authors. All Rights Reserved.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*****************************************************************************/
#include "modules/perception/common/graph/secure_matrix.h"
#include "Eigen/Core"
#include "gtest/gtest.h"
namespace
apollo
{
namespace
perception
{
namespace
common
{
TEST
(
SecureMatTest
,
test_reserve_mat
)
{
SecureMat
<
float
>
test_mat
;
test_mat
.
Reserve
(
100
,
100
);
test_mat
.
Resize
(
10
,
20
);
EXPECT_EQ
(
10
,
test_mat
.
height
());
EXPECT_EQ
(
20
,
test_mat
.
width
());
test_mat
.
Reserve
(
1200
,
1200
);
EXPECT_EQ
(
10
,
test_mat
.
height
());
EXPECT_EQ
(
20
,
test_mat
.
width
());
}
TEST
(
SecureMatTest
,
test_resize_mat
)
{
SecureMat
<
float
>
test_mat
;
test_mat
.
Reserve
(
100
,
100
);
test_mat
.
Resize
(
3
,
2
);
EXPECT_EQ
(
3
,
test_mat
.
height
());
EXPECT_EQ
(
2
,
test_mat
.
width
());
test_mat
.
Resize
(
500
,
1500
);
EXPECT_EQ
(
500
,
test_mat
.
height
());
EXPECT_EQ
(
1500
,
test_mat
.
width
());
test_mat
.
Resize
(
2000
,
1500
);
EXPECT_EQ
(
2000
,
test_mat
.
height
());
EXPECT_EQ
(
1500
,
test_mat
.
width
());
}
TEST
(
SecureMatTest
,
test_fill_mat
)
{
SecureMat
<
float
>
test_mat
;
test_mat
.
Reserve
(
10
,
10
);
test_mat
.
Resize
(
2
,
2
);
test_mat
(
0
,
0
)
=
1
;
test_mat
(
0
,
1
)
=
2
;
test_mat
(
1
,
0
)
=
3
;
test_mat
(
1
,
1
)
=
4
;
test_mat
.
ToString
(
&
std
::
cout
);
EXPECT_EQ
(
1
,
test_mat
(
0
,
0
));
EXPECT_EQ
(
2
,
test_mat
(
0
,
1
));
EXPECT_EQ
(
3
,
test_mat
(
1
,
0
));
EXPECT_EQ
(
4
,
test_mat
(
1
,
1
));
}
}
// namespace common
}
// namespace perception
}
// namespace apollo
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