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体验新版 GitCode,发现更多精彩内容 >>
提交
c0303341
编写于
9月 27, 2018
作者:
J
jmtao
提交者:
Dong Li
9月 27, 2018
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电子邮件补丁
差异文件
perception: (1) clean up gflags in test files; (2) update tests with absolute path
上级
d758ccac
变更
31
隐藏空白更改
内联
并排
Showing
31 changed file
with
156 addition
and
295 deletion
+156
-295
modules/perception/common/sensor_manager/sensor_manager_test.cc
...s/perception/common/sensor_manager/sensor_manager_test.cc
+4
-4
modules/perception/fusion/lib/data_fusion/existance_fusion/dst_existance_fusion/dst_existance_fusion_test.cc
..._fusion/dst_existance_fusion/dst_existance_fusion_test.cc
+2
-2
modules/perception/fusion/lib/data_fusion/motion_fusion/kalman_motion_fusion/kalman_motion_fusion_test.cc
..._fusion/kalman_motion_fusion/kalman_motion_fusion_test.cc
+6
-6
modules/perception/fusion/lib/data_fusion/tracker/pbf_tracker/pbf_tracker_test.cc
...n/lib/data_fusion/tracker/pbf_tracker/pbf_tracker_test.cc
+1
-2
modules/perception/fusion/lib/fusion_system/probabilistic_fusion/probabilistic_fusion_test.cc
..._system/probabilistic_fusion/probabilistic_fusion_test.cc
+6
-6
modules/perception/fusion/test/fusion_base_sensor_data_manager_test.cc
...ption/fusion/test/fusion_base_sensor_data_manager_test.cc
+4
-13
modules/perception/fusion/test/fusion_base_sensor_object_test.cc
.../perception/fusion/test/fusion_base_sensor_object_test.cc
+4
-13
modules/perception/fusion/test/fusion_base_track_test.cc
modules/perception/fusion/test/fusion_base_track_test.cc
+4
-13
modules/perception/fusion/test/fusion_common_camera_util_test.cc
.../perception/fusion/test/fusion_common_camera_util_test.cc
+4
-13
modules/perception/fusion/test/fusion_dst_type_fusion_test.cc
...les/perception/fusion/test/fusion_dst_type_fusion_test.cc
+10
-18
modules/perception/fusion/test/fusion_lib_data_association_hm_data_association_test.cc
...t/fusion_lib_data_association_hm_data_association_test.cc
+2
-7
modules/perception/fusion/test/fusion_lib_data_association_hm_data_association_track_object_distance_test.cc
...ciation_hm_data_association_track_object_distance_test.cc
+39
-48
modules/perception/fusion/test/fusion_lib_data_association_hm_track_object_test.cc
.../test/fusion_lib_data_association_hm_track_object_test.cc
+6
-13
modules/perception/fusion/test/fusion_pbf_gatekeeper_test.cc
modules/perception/fusion/test/fusion_pbf_gatekeeper_test.cc
+5
-14
modules/perception/fusion/test/fusion_pbf_shape_fusion_test.cc
...es/perception/fusion/test/fusion_pbf_shape_fusion_test.cc
+16
-22
modules/perception/lidar/lib/classifier/fused_classifier/fused_classifier_test.cc
.../lib/classifier/fused_classifier/fused_classifier_test.cc
+4
-6
modules/perception/lidar/lib/roi_filter/hdmap_roi_filter/hdmap_roi_filter_test.cc
.../lib/roi_filter/hdmap_roi_filter/hdmap_roi_filter_test.cc
+3
-7
modules/perception/lidar/lib/roi_filter/roi_service_filter/roi_service_filter_test.cc
.../roi_filter/roi_service_filter/roi_service_filter_test.cc
+2
-3
modules/perception/lidar/lib/segmentation/cnnseg/cnn_segmentation_test.cc
...on/lidar/lib/segmentation/cnnseg/cnn_segmentation_test.cc
+4
-8
modules/perception/lidar/lib/segmentation/cnnseg/feature_generator_test.cc
...n/lidar/lib/segmentation/cnnseg/feature_generator_test.cc
+2
-2
modules/perception/lidar/test/lidar_lib_ground_service_detector_test.cc
...tion/lidar/test/lidar_lib_ground_service_detector_test.cc
+3
-10
modules/perception/lidar/test/lidar_lib_hm_tracker_hm_mutil_target_tracker_test.cc
...test/lidar_lib_hm_tracker_hm_mutil_target_tracker_test.cc
+3
-6
modules/perception/lidar/test/lidar_lib_hm_tracker_kalman_filter_test.cc
...ion/lidar/test/lidar_lib_hm_tracker_kalman_filter_test.cc
+2
-6
modules/perception/lidar/test/lidar_lib_hm_tracker_object_track_matcher_test.cc
...ar/test/lidar_lib_hm_tracker_object_track_matcher_test.cc
+2
-6
modules/perception/lidar/test/lidar_lib_hm_tracker_track_post_processor_test.cc
...ar/test/lidar_lib_hm_tracker_track_post_processor_test.cc
+3
-6
modules/perception/lidar/test/lidar_lib_map_manager_test.cc
modules/perception/lidar/test/lidar_lib_map_manager_test.cc
+4
-10
modules/perception/lidar/test/lidar_lib_object_filter_bank_filter_bank_test.cc
...dar/test/lidar_lib_object_filter_bank_filter_bank_test.cc
+2
-6
modules/perception/lidar/test/lidar_lib_object_filter_bank_roi_boundary_filter_test.cc
.../lidar_lib_object_filter_bank_roi_boundary_filter_test.cc
+1
-6
modules/perception/lidar/test/lidar_lib_pointcloud_preprocessor_test.cc
...tion/lidar/test/lidar_lib_pointcloud_preprocessor_test.cc
+2
-6
modules/perception/lidar/test/lidar_lib_scene_manager_test.cc
...les/perception/lidar/test/lidar_lib_scene_manager_test.cc
+3
-8
modules/perception/map/hdmap/hdmap_input_test.cc
modules/perception/map/hdmap/hdmap_input_test.cc
+3
-5
未找到文件。
modules/perception/common/sensor_manager/sensor_manager_test.cc
浏览文件 @
c0303341
...
...
@@ -25,8 +25,8 @@ namespace common {
/* TODO(all): to be added back
TEST(SensorManagerTest, test) {
FLAGS_work_root =
"
modules/perception/testdata/
common/sensor_manager/";
FLAGS_work_root =
"/apollo/modules/perception/testdata/"
"common/sensor_manager/";
FLAGS_obs_sensor_meta_path = "data/sensor_meta.pt";
FLAGS_obs_sensor_intrinsic_path =
"modules/perception/testdata/common/sensor_manager/params";
...
...
@@ -112,8 +112,8 @@ TEST(SensorManagerTest, test_init_error) {
EXPECT_TRUE(sensor_manager != nullptr);
sensor_manager->inited_ = false;
FLAGS_work_root =
"
modules/perception/testdata/
common/sensor_manager/";
FLAGS_work_root =
"/apollo/modules/perception/testdata/"
"common/sensor_manager/";
FLAGS_obs_sensor_meta_path = "./data/sensor_meta_error.pt";
EXPECT_FALSE(sensor_manager->Init());
...
...
modules/perception/fusion/lib/data_fusion/existance_fusion/dst_existance_fusion/dst_existance_fusion_test.cc
浏览文件 @
c0303341
...
...
@@ -33,8 +33,8 @@ namespace fusion {
/* TODO(all): Initialize() not compiling. to be fixed
TEST(DstExistFusionTest, test_update_with_measurement) {
FLAGS_work_root =
"
/apollo/modules/perception/testdata/
fusion/dst_existance_fusion";
FLAGS_work_root =
"/apollo/modules/perception/testdata/"
"fusion/dst_existance_fusion";
FLAGS_obs_sensor_intrinsic_path =
"/apollo/modules/perception/testdata/fusion/dst_existance_fusion/params";
FLAGS_obs_sensor_meta_path = "./data/sensor_meta.pt";
...
...
modules/perception/fusion/lib/data_fusion/motion_fusion/kalman_motion_fusion/kalman_motion_fusion_test.cc
浏览文件 @
c0303341
...
...
@@ -32,8 +32,8 @@ const double SHAPE_FUSION_PI = 3.1415926;
/* TODO(all): not compiling. to be fixed
TEST(MotionFusionTest, lidar_test) {
FLAGS_work_root =
"
/apollo/modules/perception/testdata/
fusion/kalman_motion_fusion";
FLAGS_work_root =
"/apollo/modules/perception/testdata/"
"fusion/kalman_motion_fusion";
FLAGS_obs_sensor_meta_path = "./data/sensor_meta.pt";
FLAGS_obs_sensor_intrinsic_path =
"/apollo/modules/perception/testdata/fusion/kalman_motion_fusion/params";
...
...
@@ -197,8 +197,8 @@ TEST(MotionFusionTest, lidar_test) {
/* TODO(all): Initialize() not compiling. to be fixed
TEST(MotionFusionTest, radar_test) {
FLAGS_work_root =
"
/apollo/modules/perception/testdata/
fusion/kalman_motion_fusion";
FLAGS_work_root =
"/apollo/modules/perception/testdata/"
"fusion/kalman_motion_fusion";
FLAGS_obs_sensor_meta_path = "./conf/sensor_meta.config";
FLAGS_obs_sensor_intrinsic_path =
"/apollo/modules/perception/testdata/fusion/kalman_motion_fusion/params";
...
...
@@ -348,8 +348,8 @@ TEST(MotionFusionTest, radar_test) {
/* TODO(all): Initialize() not compiling. to be fixed
TEST(MotionFusionTest, get_history_test) {
FLAGS_work_root =
"
/apollo/modules/perception/testdata/
fusion/kalman_motion_fusion";
FLAGS_work_root =
"/apollo/modules/perception/testdata/"
"fusion/kalman_motion_fusion";
FLAGS_obs_sensor_meta_path = "./conf/sensor_meta.config";
FLAGS_obs_sensor_intrinsic_path =
"/apollo/modules/perception/testdata/fusion/kalman_motion_fusion/params";
...
...
modules/perception/fusion/lib/data_fusion/tracker/pbf_tracker/pbf_tracker_test.cc
浏览文件 @
c0303341
...
...
@@ -32,8 +32,7 @@ namespace fusion {
/* TODO(all): Initialize() not compiling. to be fixed
TEST(PbfTrackerTest, test_initialize) {
FLAGS_work_root =
"/apollo/modules/perception/testdata/fusion/pbf_tracker";
FLAGS_work_root = "/apollo/modules/perception/testdata/fusion/pbf_tracker";
FLAGS_obs_sensor_meta_path = "./data/sensor_meta.pt";
FLAGS_obs_sensor_intrinsic_path =
"/apollo/modules/perception/testdata/fusion/pbf_tracker/params";
...
...
modules/perception/fusion/lib/fusion_system/probabilistic_fusion/probabilistic_fusion_test.cc
浏览文件 @
c0303341
...
...
@@ -25,8 +25,8 @@ namespace perception {
namespace
fusion
{
TEST
(
ProbabliticFusionTest
,
test_init
)
{
FLAGS_work_root
=
"
/apollo/modules/perception/testdata/
fusion/probabilistic_fusion"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/"
"fusion/probabilistic_fusion"
;
FLAGS_obs_sensor_meta_path
=
"./data/sensor_meta.pt"
;
FLAGS_obs_sensor_intrinsic_path
=
"/apollo/modules/perception/testdata/fusion/probabilistic_fusion/params"
;
...
...
@@ -93,8 +93,8 @@ TEST(ProbabliticFusionTest, test_init) {
}
TEST
(
ProbabliticFusionTest
,
test_update
)
{
FLAGS_work_root
=
"
/apollo/modules/perception/testdata/
fusion/probabilistic_fusion"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/"
"fusion/probabilistic_fusion"
;
FLAGS_obs_sensor_meta_path
=
"./data/sensor_meta.pt"
;
FLAGS_obs_sensor_intrinsic_path
=
"/apollo/modules/perception/testdata/fusion/probabilistic_fusion/params"
;
...
...
@@ -244,8 +244,8 @@ TEST(ProbabliticFusionTest, test_update) {
}
TEST
(
ProbabilisticFusionTest
,
test_collect_sensor_measurement
)
{
FLAGS_work_root
=
"
/apollo/modules/perception/testdata/
fusion/probabilistic_fusion"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/"
"fusion/probabilistic_fusion"
;
FLAGS_obs_sensor_meta_path
=
"./data/sensor_meta.pt"
;
FLAGS_obs_sensor_intrinsic_path
=
"/apollo/modules/perception/testdata/fusion/probabilistic_fusion/params"
;
...
...
modules/perception/fusion/test/fusion_base_sensor_data_manager_test.cc
浏览文件 @
c0303341
...
...
@@ -20,22 +20,13 @@
namespace
apollo
{
namespace
perception
{
namespace
common
{
DECLARE_string
(
obs_sensor_meta_path
);
DECLARE_string
(
obs_sensor_intrinsic_path
);
}
namespace
lib
{
DECLARE_string
(
work_root
);
}
namespace
fusion
{
TEST
(
SensorDataManagerTest
,
test
)
{
lib
::
FLAGS_work_root
=
"/apollo/modules/perception/testdata/fusion/base"
;
common
::
FLAGS_obs_sensor_meta_path
=
"./data/sensor_meta.pt"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"
/apollo/modules/perception/testdata/
fusion/base/params"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/fusion/base"
;
FLAGS_obs_sensor_meta_path
=
"./data/sensor_meta.pt"
;
FLAGS_obs_sensor_intrinsic_path
=
"/apollo/modules/perception/testdata/"
"fusion/base/params"
;
SensorDataManager
*
sensor_data_manager
=
lib
::
Singleton
<
SensorDataManager
>::
get_instance
();
EXPECT_TRUE
(
sensor_data_manager
!=
nullptr
);
...
...
modules/perception/fusion/test/fusion_base_sensor_object_test.cc
浏览文件 @
c0303341
...
...
@@ -22,22 +22,13 @@
namespace
apollo
{
namespace
perception
{
namespace
common
{
DECLARE_string
(
obs_sensor_meta_path
);
DECLARE_string
(
obs_sensor_intrinsic_path
);
}
namespace
lib
{
DECLARE_string
(
work_root
);
}
namespace
fusion
{
TEST
(
SensorObjectTest
,
test
)
{
lib
::
FLAGS_work_root
=
"/apollo/modules/perception/testdata/fusion/base"
;
common
::
FLAGS_obs_sensor_meta_path
=
"./data/sensor_meta.pt"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"
/apollo/modules/perception/testdata/
fusion/base/params"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/fusion/base"
;
FLAGS_obs_sensor_meta_path
=
"./data/sensor_meta.pt"
;
FLAGS_obs_sensor_intrinsic_path
=
"/apollo/modules/perception/testdata/"
"fusion/base/params"
;
base
::
SensorInfo
sensor_info
;
sensor_info
.
name
=
"test"
;
sensor_info
.
type
=
base
::
SensorType
::
VELODYNE_64
;
...
...
modules/perception/fusion/test/fusion_base_track_test.cc
浏览文件 @
c0303341
...
...
@@ -23,22 +23,13 @@
namespace
apollo
{
namespace
perception
{
namespace
common
{
DECLARE_string
(
obs_sensor_meta_path
);
DECLARE_string
(
obs_sensor_intrinsic_path
);
}
namespace
lib
{
DECLARE_string
(
work_root
);
}
namespace
fusion
{
TEST
(
TrackTest
,
test
)
{
lib
::
FLAGS_work_root
=
"/apollo/modules/perception/testdata/fusion/base/"
;
common
::
FLAGS_obs_sensor_meta_path
=
"./data/sensor_meta.pt"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"
/apollo/modules/perception/testdata/
fusion/base/params"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/fusion/base/"
;
FLAGS_obs_sensor_meta_path
=
"./data/sensor_meta.pt"
;
FLAGS_obs_sensor_intrinsic_path
=
"/apollo/modules/perception/testdata/"
"fusion/base/params"
;
base
::
SensorInfo
vlp64_info
;
vlp64_info
.
name
=
"velodyne64"
;
vlp64_info
.
type
=
base
::
SensorType
::
VELODYNE_64
;
...
...
modules/perception/fusion/test/fusion_common_camera_util_test.cc
浏览文件 @
c0303341
...
...
@@ -22,15 +22,6 @@
namespace
apollo
{
namespace
perception
{
namespace
common
{
DECLARE_string
(
obs_sensor_meta_path
);
DECLARE_string
(
obs_sensor_intrinsic_path
);
}
namespace
lib
{
DECLARE_string
(
work_root
);
}
namespace
fusion
{
TEST
(
CameraUtilTest
,
test_is_pt_in_frustum
)
{
...
...
@@ -49,10 +40,10 @@ TEST(CameraUtilTest, test_is_pt_in_frustum) {
}
TEST
(
CameraUtilTest
,
test_object_in_camera_view_and_is_behind_camera
)
{
lib
::
FLAGS_work_root
=
"/apollo/modules/perception/testdata/fusion/base"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"
/apollo/modules/perception/testdata/
fusion/base/params"
;
common
::
FLAGS_obs_sensor_meta_path
=
"./data/sensor_meta.pt"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/fusion/base"
;
FLAGS_obs_sensor_intrinsic_path
=
"/apollo/modules/perception/testdata/"
"fusion/base/params"
;
FLAGS_obs_sensor_meta_path
=
"./data/sensor_meta.pt"
;
// create a lidar sensor object
base
::
ObjectPtr
base_lidar_object
(
new
base
::
Object
());
...
...
modules/perception/fusion/test/fusion_dst_type_fusion_test.cc
浏览文件 @
c0303341
...
...
@@ -27,22 +27,14 @@
namespace
apollo
{
namespace
perception
{
namespace
common
{
DECLARE_string
(
obs_sensor_meta_path
);
DECLARE_string
(
obs_sensor_intrinsic_path
);
}
namespace
lib
{
DECLARE_string
(
work_root
);
}
namespace
fusion
{
TEST
(
DstTypeFusionTest
,
test_update_with_measurement
)
{
lib
::
FLAGS_work_root
=
"/apollo/modules/perception/testdata/fusion/dst_type_fusion"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"/apollo/modules/perception/testdata/fusion/dst_type_fusion/params"
;
common
::
FLAGS_obs_sensor_meta_path
=
"./data/sensor_meta.pt"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/"
"fusion/dst_type_fusion"
;
FLAGS_obs_sensor_intrinsic_path
=
"/apollo/modules/perception/testdata/"
"fusion/dst_type_fusion/params"
;
FLAGS_obs_sensor_meta_path
=
"./data/sensor_meta.pt"
;
common
::
SensorManager
*
sensor_manager
=
lib
::
Singleton
<
common
::
SensorManager
>::
get_instance
();
EXPECT_TRUE
(
sensor_manager
!=
nullptr
);
...
...
@@ -129,11 +121,11 @@ TEST(DstTypeFusionTest, test_update_with_measurement) {
}
TEST
(
DstTypeFusionTest
,
test_update_without_measurement
)
{
lib
::
FLAGS_work_root
=
"
/apollo/modules/perception/testdata/
fusion/dst_type_fusion"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"
/apollo/modules/perception/testdata/
fusion/dst_type_fusion/params"
;
common
::
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/"
"fusion/dst_type_fusion"
;
FLAGS_obs_sensor_intrinsic_path
=
"/apollo/modules/perception/testdata/"
"fusion/dst_type_fusion/params"
;
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
common
::
SensorManager
*
sensor_manager
=
lib
::
Singleton
<
common
::
SensorManager
>::
get_instance
();
EXPECT_TRUE
(
sensor_manager
!=
nullptr
);
...
...
modules/perception/fusion/test/fusion_lib_data_association_hm_data_association_test.cc
浏览文件 @
c0303341
...
...
@@ -28,11 +28,6 @@
namespace
apollo
{
namespace
perception
{
namespace
common
{
DECLARE_string
(
obs_sensor_meta_path
);
DECLARE_string
(
obs_sensor_intrinsic_path
);
}
namespace
fusion
{
TEST
(
ProjectionCacheTest
,
test
)
{
...
...
@@ -284,8 +279,8 @@ TEST(ComputeRadarCameraVelocitySimilarity, test) {
}
TEST
(
TrackObjectDistance
,
test
)
{
common
::
FLAGS_obs_sensor_meta_path
=
"./data/sensor_meta.pt"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
FLAGS_obs_sensor_meta_path
=
"./data/sensor_meta.pt"
;
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
TrackObjectDistance
track_object_distance
;
}
...
...
modules/perception/fusion/test/fusion_lib_data_association_hm_data_association_track_object_distance_test.cc
浏览文件 @
c0303341
...
...
@@ -29,25 +29,16 @@
namespace
apollo
{
namespace
perception
{
namespace
common
{
DECLARE_string
(
obs_sensor_meta_path
);
DECLARE_string
(
obs_sensor_intrinsic_path
);
}
namespace
lib
{
DECLARE_string
(
work_root
);
}
namespace
fusion
{
class
TrackObjectDistanceTest
:
public
testing
::
Test
{
protected:
void
SetUp
()
{
lib
::
FLAGS_work_root
=
"
/apollo/modules/perception/testdata/
fusion/hm_data_association"
;
common
::
FLAGS_obs_sensor_meta_path
=
"./data/sensor_meta.pt"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"
/apollo/modules/perception/testdata/
fusion/hm_data_association/params"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/"
"fusion/hm_data_association"
;
FLAGS_obs_sensor_meta_path
=
"./data/sensor_meta.pt"
;
FLAGS_obs_sensor_intrinsic_path
=
"/apollo/modules/perception/testdata/"
"fusion/hm_data_association/params"
;
}
};
...
...
@@ -663,8 +654,8 @@ TEST_F(TrackObjectDistanceTest, test_query_projection_cache_object_4) {
TEST_F
(
TrackObjectDistanceTest
,
test_compute_radar_camera_similiarity_0
)
{
TrackObjectDistance
track_object_distance
;
common
::
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
base
::
ObjectPtr
radar_object_ptr
(
new
base
::
Object
());
base
::
ObjectConstPtr
radar_object_const_ptr
(
radar_object_ptr
);
...
...
@@ -709,8 +700,8 @@ TEST_F(TrackObjectDistanceTest, test_compute_radar_camera_similiarity_0) {
TEST_F
(
TrackObjectDistanceTest
,
test_compute_radar_camera_similiarity_1
)
{
TrackObjectDistance
track_object_distance
;
common
::
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
base
::
ObjectPtr
radar_object_ptr
(
new
base
::
Object
());
base
::
ObjectConstPtr
radar_object_const_ptr
(
radar_object_ptr
);
...
...
@@ -756,8 +747,8 @@ TEST_F(TrackObjectDistanceTest, test_compute_radar_camera_similiarity_1) {
TEST_F
(
TrackObjectDistanceTest
,
test_compute_radar_camera_similiarity_2
)
{
TrackObjectDistance
track_object_distance
;
common
::
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
base
::
ObjectPtr
radar_object_ptr
(
new
base
::
Object
());
radar_object_ptr
->
center
=
Eigen
::
Vector3d
(
1
,
1
,
1
);
...
...
@@ -808,8 +799,8 @@ TEST_F(TrackObjectDistanceTest, test_compute_radar_camera_similiarity_2) {
TEST_F
(
TrackObjectDistanceTest
,
test_compute_radar_camera_similiarity_3
)
{
TrackObjectDistance
track_object_distance
;
common
::
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
base
::
ObjectPtr
radar_object_ptr
(
new
base
::
Object
());
radar_object_ptr
->
center
=
Eigen
::
Vector3d
(
-
1
,
-
1
,
-
1
);
...
...
@@ -861,8 +852,8 @@ TEST_F(TrackObjectDistanceTest, test_compute_radar_camera_similiarity_3) {
TEST_F
(
TrackObjectDistanceTest
,
test_compute_radar_camera_similiarity_4
)
{
TrackObjectDistance
track_object_distance
;
common
::
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
base
::
ObjectPtr
radar_object_ptr
(
new
base
::
Object
());
radar_object_ptr
->
center
=
Eigen
::
Vector3d
(
1.001
,
1
,
1
);
...
...
@@ -913,8 +904,8 @@ TEST_F(TrackObjectDistanceTest, test_compute_radar_camera_similiarity_4) {
TEST_F
(
TrackObjectDistanceTest
,
test_compute_radar_camera_similiarity_5
)
{
TrackObjectDistance
track_object_distance
;
common
::
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
base
::
ObjectPtr
radar_object_ptr
(
new
base
::
Object
());
radar_object_ptr
->
center
=
Eigen
::
Vector3d
(
1
,
1
,
1
);
...
...
@@ -966,8 +957,8 @@ TEST_F(TrackObjectDistanceTest, test_compute_radar_camera_similiarity_5) {
TEST_F
(
TrackObjectDistanceTest
,
test_compute_lidar_camera_similiarity_0
)
{
TrackObjectDistance
track_object_distance
;
common
::
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
base
::
ObjectPtr
lidar_object_ptr
(
new
base
::
Object
());
lidar_object_ptr
->
center
=
Eigen
::
Vector3d
(
1
,
1
,
1
);
...
...
@@ -1016,8 +1007,8 @@ TEST_F(TrackObjectDistanceTest, test_compute_lidar_camera_similiarity_0) {
TEST_F
(
TrackObjectDistanceTest
,
test_compute_lidar_camera_similiarity_1
)
{
TrackObjectDistance
track_object_distance
;
common
::
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
base
::
ObjectPtr
lidar_object_ptr
(
new
base
::
Object
());
lidar_object_ptr
->
center
=
Eigen
::
Vector3d
(
1
,
1
,
1
);
...
...
@@ -1066,8 +1057,8 @@ TEST_F(TrackObjectDistanceTest, test_compute_lidar_camera_similiarity_1) {
TEST_F
(
TrackObjectDistanceTest
,
test_compute_lidar_camera_similiarity_2
)
{
TrackObjectDistance
track_object_distance
;
common
::
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
base
::
ObjectPtr
lidar_object_ptr
(
new
base
::
Object
());
lidar_object_ptr
->
center
=
Eigen
::
Vector3d
(
1
,
1
,
1
);
...
...
@@ -1116,8 +1107,8 @@ TEST_F(TrackObjectDistanceTest, test_compute_lidar_camera_similiarity_2) {
TEST_F
(
TrackObjectDistanceTest
,
test_compute_lidar_camera_similiarity_3
)
{
TrackObjectDistance
track_object_distance
;
common
::
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
base
::
ObjectPtr
lidar_object_ptr
(
new
base
::
Object
());
lidar_object_ptr
->
center
=
Eigen
::
Vector3d
(
1
,
1
,
1
);
...
...
@@ -1166,8 +1157,8 @@ TEST_F(TrackObjectDistanceTest, test_compute_lidar_camera_similiarity_3) {
TEST_F
(
TrackObjectDistanceTest
,
test_compute_lidar_camera_similiarity_4
)
{
TrackObjectDistance
track_object_distance
;
common
::
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
base
::
ObjectPtr
lidar_object_ptr
(
new
base
::
Object
());
lidar_object_ptr
->
center
=
Eigen
::
Vector3d
(
1
,
1
,
1
);
...
...
@@ -1238,8 +1229,8 @@ TEST_F(TrackObjectDistanceTest, test_compute_lidar_camera_similiarity_4) {
TEST_F
(
TrackObjectDistanceTest
,
test_compute_lidar_camera_similiarity_5
)
{
TrackObjectDistance
track_object_distance
;
common
::
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
base
::
ObjectPtr
lidar_object_ptr
(
new
base
::
Object
());
lidar_object_ptr
->
center
=
Eigen
::
Vector3d
(
1
,
1
,
1
);
...
...
@@ -1298,8 +1289,8 @@ TEST_F(TrackObjectDistanceTest, test_compute_lidar_camera_similiarity_5) {
TEST_F
(
TrackObjectDistanceTest
,
test_compute_radar_camera_0
)
{
TrackObjectDistance
track_object_distance
;
common
::
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
base
::
ObjectPtr
radar_object_ptr
(
new
base
::
Object
());
radar_object_ptr
->
center
=
Eigen
::
Vector3d
(
1
,
1
,
1
);
...
...
@@ -1351,8 +1342,8 @@ TEST_F(TrackObjectDistanceTest, test_compute_radar_camera_0) {
TEST_F
(
TrackObjectDistanceTest
,
test_compute_radar_camera_1
)
{
TrackObjectDistance
track_object_distance
;
common
::
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
base
::
ObjectPtr
radar_object_ptr
(
new
base
::
Object
());
radar_object_ptr
->
center
=
Eigen
::
Vector3d
(
1
,
1
,
1
);
...
...
@@ -1404,8 +1395,8 @@ TEST_F(TrackObjectDistanceTest, test_compute_radar_camera_1) {
TEST_F
(
TrackObjectDistanceTest
,
test_compute_radar_camera_2
)
{
TrackObjectDistance
track_object_distance
;
common
::
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
base
::
ObjectPtr
radar_object_ptr
(
new
base
::
Object
());
radar_object_ptr
->
center
=
Eigen
::
Vector3d
(
1
,
1
,
-
1
);
...
...
@@ -1458,8 +1449,8 @@ TEST_F(TrackObjectDistanceTest, test_compute_radar_camera_2) {
TEST_F
(
TrackObjectDistanceTest
,
test_compute_radar_camera_3
)
{
TrackObjectDistance
track_object_distance
;
common
::
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
base
::
ObjectPtr
radar_object_ptr
(
new
base
::
Object
());
radar_object_ptr
->
center
=
Eigen
::
Vector3d
(
1.1
,
1.1
,
1
);
...
...
@@ -1512,8 +1503,8 @@ TEST_F(TrackObjectDistanceTest, test_compute_radar_camera_3) {
TEST_F
(
TrackObjectDistanceTest
,
test_compute_radar_camera_4
)
{
TrackObjectDistance
track_object_distance
;
common
::
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
FLAGS_obs_sensor_intrinsic_path
=
"./params"
;
base
::
ObjectPtr
radar_object_ptr
(
new
base
::
Object
());
radar_object_ptr
->
center
=
Eigen
::
Vector3d
(
1
,
1
,
1
);
...
...
modules/perception/fusion/test/fusion_lib_data_association_hm_track_object_test.cc
浏览文件 @
c0303341
...
...
@@ -25,16 +25,8 @@
namespace
apollo
{
namespace
perception
{
namespace
common
{
DECLARE_string
(
obs_sensor_meta_path
);
DECLARE_string
(
obs_sensor_intrinsic_path
);
}
namespace
lib
{
DECLARE_string
(
work_root
);
}
namespace
fusion
{
TEST
(
MatcherTest
,
test_generate_unassign
)
{
HMTrackersObjectsAssociation
matcher
;
std
::
vector
<
TrackMeasurmentPair
>
assignments
;
...
...
@@ -50,10 +42,11 @@ TEST(MatcherTest, test_generate_unassign) {
}
TEST
(
MatcherTest
,
test_all
)
{
lib
::
FLAGS_work_root
=
"/apollo/modules/perception/testdata/fusion/hm_data_association"
;
common
::
FLAGS_obs_sensor_meta_path
=
"./data/sensor_meta.pt"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"/apollo/modules/perception/testdata/fusion/hm_data_association/params"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/"
"fusion/hm_data_association"
;
FLAGS_obs_sensor_meta_path
=
"./data/sensor_meta.pt"
;
FLAGS_obs_sensor_intrinsic_path
=
"/apollo/modules/perception/testdata/"
"fusion/hm_data_association/params"
;
Eigen
::
Matrix4d
pose
;
pose
<<
1
,
0
,
0
,
0
,
0
,
1
,
0
,
0
,
0
,
0
,
1
,
0
,
0
,
0
,
0
,
1
;
HMTrackersObjectsAssociation
::
s_match_distance_thresh_
=
4.0
;
...
...
modules/perception/fusion/test/fusion_pbf_gatekeeper_test.cc
浏览文件 @
c0303341
...
...
@@ -23,23 +23,14 @@
namespace
apollo
{
namespace
perception
{
namespace
common
{
DECLARE_string
(
obs_sensor_meta_path
);
DECLARE_string
(
obs_sensor_intrinsic_path
);
}
namespace
lib
{
DECLARE_string
(
work_root
);
}
namespace
fusion
{
TEST
(
PbfGatekeeperTest
,
test
)
{
lib
::
FLAGS_work_root
=
"
/apollo/modules/perception/testdata/
fusion/pbf_gatekeeper"
;
common
::
FLAGS_obs_sensor_meta_path
=
"./data/sensor_meta.pt"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"
/apollo/modules/perception/testdata/
fusion/pbf_gatekeeper/params"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/"
"fusion/pbf_gatekeeper"
;
FLAGS_obs_sensor_meta_path
=
"./data/sensor_meta.pt"
;
FLAGS_obs_sensor_intrinsic_path
=
"/apollo/modules/perception/testdata/"
"fusion/pbf_gatekeeper/params"
;
PbfGatekeeper
gate_keeper
;
EXPECT_EQ
(
gate_keeper
.
Name
(),
"PbfGatekeeper"
);
...
...
modules/perception/fusion/test/fusion_pbf_shape_fusion_test.cc
浏览文件 @
c0303341
...
...
@@ -18,24 +18,16 @@
namespace
apollo
{
namespace
perception
{
namespace
common
{
DECLARE_string
(
obs_sensor_meta_path
);
DECLARE_string
(
obs_sensor_intrinsic_path
);
}
namespace
lib
{
DECLARE_string
(
work_root
);
}
namespace
fusion
{
const
double
SHAPE_FUSION_PI
=
3.1415926
;
TEST
(
PbfShapeFusion
,
lidar_track
)
{
lib
::
FLAGS_work_root
=
"
/apollo/modules/perception/testdata/
fusion/pbf_shape_fusion"
;
common
::
FLAGS_obs_sensor_meta_path
=
"./data/sensor_meta.pt"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"
/apollo/modules/perception/testdata/
fusion/pbf_shape_fusion/params"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/"
"fusion/pbf_shape_fusion"
;
FLAGS_obs_sensor_meta_path
=
"./data/sensor_meta.pt"
;
FLAGS_obs_sensor_intrinsic_path
=
"/apollo/modules/perception/testdata/"
"fusion/pbf_shape_fusion/params"
;
Eigen
::
Matrix4d
pose
;
pose
<<
1
,
0
,
0
,
0
,
0
,
1
,
0
,
0
,
0
,
0
,
1
,
0
,
0
,
0
,
0
,
1
;
...
...
@@ -165,10 +157,11 @@ TEST(PbfShapeFusion, lidar_track) {
}
TEST
(
PbfShapeFusion
,
radar_track
)
{
lib
::
FLAGS_work_root
=
"/apollo/modules/perception/testdata/fusion/pbf_shape_fusion"
;
common
::
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"/apollo/modules/perception/testdata/fusion/pbf_shape_fusion/params"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/"
"fusion/pbf_shape_fusion"
;
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
FLAGS_obs_sensor_intrinsic_path
=
"/apollo/modules/perception/testdata/"
"fusion/pbf_shape_fusion/params"
;
Eigen
::
Matrix4d
pose
;
pose
<<
1
,
0
,
0
,
0
,
0
,
1
,
0
,
0
,
0
,
0
,
1
,
0
,
0
,
0
,
0
,
1
;
...
...
@@ -340,10 +333,11 @@ TEST(PbfShapeFusion, radar_track) {
}
TEST
(
PbfShapeFusion
,
camera_track
)
{
lib
::
FLAGS_work_root
=
"/apollo/modules/perception/testdata/fusion/pbf_shape_fusion"
;
common
::
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
common
::
FLAGS_obs_sensor_intrinsic_path
=
"/apollo/modules/perception/testdata/fusion/pbf_shape_fusion/params"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/"
"fusion/pbf_shape_fusion"
;
FLAGS_obs_sensor_meta_path
=
"./conf/sensor_meta.config"
;
FLAGS_obs_sensor_intrinsic_path
=
"/apollo/modules/perception/testdata/"
"fusion/pbf_shape_fusion/params"
;
Eigen
::
Matrix4d
pose
;
pose
<<
1
,
0
,
0
,
0
,
0
,
1
,
0
,
0
,
0
,
0
,
1
,
0
,
0
,
0
,
0
,
1
;
...
...
modules/perception/lidar/lib/classifier/fused_classifier/fused_classifier_test.cc
浏览文件 @
c0303341
...
...
@@ -21,6 +21,7 @@
#include "gtest/gtest.h"
#include "modules/perception/base/object.h"
#include "modules/perception/common/perception_gflags.h"
#include "modules/perception/lidar/common/lidar_frame.h"
#include "modules/perception/lidar/common/lidar_log.h"
#include "modules/perception/lidar/common/object_sequence.h"
...
...
@@ -28,11 +29,8 @@
namespace
apollo
{
namespace
perception
{
namespace
lib
{
DECLARE_string
(
config_manager_path
);
DECLARE_string
(
work_root
);
}
// namespace lib
namespace
lidar
{
using
base
::
Object
;
using
base
::
ObjectPtr
;
class
FusedClassifierTest
:
public
testing
::
Test
{
...
...
@@ -42,8 +40,8 @@ class FusedClassifierTest : public testing::Test {
putenv
(
cybertron_path
);
char
module_path
[
80
]
=
"MODULE_PATH="
;
putenv
(
module_path
);
lib
::
FLAGS_work_root
=
"
modules/perception/testdata/
lidar/lib/classifier/fused_classifier"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/"
"lidar/lib/classifier/fused_classifier"
;
fused_classifier_
=
new
FusedClassifier
();
BuildObjects
();
for
(
auto
&
frame
:
frames_
)
{
...
...
modules/perception/lidar/lib/roi_filter/hdmap_roi_filter/hdmap_roi_filter_test.cc
浏览文件 @
c0303341
...
...
@@ -26,11 +26,8 @@
namespace
apollo
{
namespace
perception
{
namespace
lib
{
DECLARE_string
(
work_root
);
}
namespace
lidar
{
typedef
Bitmap2D
::
DirectionMajor
DirectionMajor
;
typedef
Bitmap2D
::
Vec2ui
Vec2ui
;
...
...
@@ -176,9 +173,8 @@ class HdmapROIFilterTest : public ::testing::Test {
putenv
(
cybertron_path
);
char
module_path
[
50
]
=
"MODULE_PATH="
;
putenv
(
module_path
);
FLAGS_work_root
=
"/apollo/modules/perception/testdata/lidar/lib/roi_filter/"
"hdmap_roi_filter"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/"
"lidar/lib/roi_filter/hdmap_roi_filter"
;
}
protected:
...
...
modules/perception/lidar/lib/roi_filter/roi_service_filter/roi_service_filter_test.cc
浏览文件 @
c0303341
...
...
@@ -46,9 +46,8 @@ class LidarLibROIServiceFilterTest : public testing::Test {
putenv
(
cybertron_path
);
char
module_path
[
100
]
=
"MODULE_PATH="
;
putenv
(
module_path
);
FLAGS_work_root
=
"/apollo/modules/perception/testdata/lidar/lib/roi_filter/"
"roi_service_filter"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/"
"lidar/lib/roi_filter/roi_service_filter"
;
FLAGS_config_manager_path
=
"./conf"
;
lib
::
ConfigManager
*
config_manager
=
lib
::
Singleton
<
lib
::
ConfigManager
>::
get_instance
();
...
...
modules/perception/lidar/lib/segmentation/cnnseg/cnn_segmentation_test.cc
浏览文件 @
c0303341
...
...
@@ -23,10 +23,6 @@
namespace
apollo
{
namespace
perception
{
namespace
lib
{
DECLARE_string
(
work_root
);
}
namespace
lidar
{
bool
LoadPCDFile
(
const
std
::
string
&
file_path
,
base
::
PointFCloudPtr
cloud_out
)
{
...
...
@@ -76,8 +72,8 @@ TEST(CNNSegmentationTest, cnn_segmentation_sequence_test) {
putenv(cybertron_path);
char module_path[100] = "MODULE_PATH=";
putenv(module_path);
FLAGS_work_root =
"
/apollo/modules/perception/testdata/
lidar/lib/segmentation/cnnseg/";
FLAGS_work_root =
"/apollo/modules/perception/testdata/"
"lidar/lib/segmentation/cnnseg/";
std::shared_ptr<CNNSegmentation> segmentation(new CNNSegmentation);
SegmentationOptions options;
...
...
@@ -124,8 +120,8 @@ TEST(CNNSegmentationTest, cnn_segmentation_test) {
putenv(cybertron_path);
char module_path[100] = "MODULE_PATH=";
putenv(module_path);
FLAGS_work_root =
"
/apollo/modules/perception/testdata/
lidar/lib/segmentation/cnnseg/";
FLAGS_work_root =
"/apollo/modules/perception/testdata/"
"lidar/lib/segmentation/cnnseg/";
// load pcd data
base::PointFCloudPtr pc_ptr;
...
...
modules/perception/lidar/lib/segmentation/cnnseg/feature_generator_test.cc
浏览文件 @
c0303341
...
...
@@ -118,8 +118,8 @@ TEST_F(FeatureGeneratorTest, basic_test) {
putenv
(
cybertron_path
);
char
module_path
[
100
]
=
"MODULE_PATH="
;
putenv
(
module_path
);
FLAGS_work_root
=
"
modules/perception/testdata/
lidar/lib/segmentation/cnnseg/"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/"
"lidar/lib/segmentation/cnnseg/"
;
// load pcd data
base
::
PointFCloudPtr
pc_ptr
;
...
...
modules/perception/lidar/test/lidar_lib_ground_service_detector_test.cc
浏览文件 @
c0303341
...
...
@@ -22,12 +22,6 @@
namespace
apollo
{
namespace
perception
{
namespace
lib
{
DECLARE_string
(
config_manager_path
);
DECLARE_string
(
work_root
);
}
// namespace lib
namespace
lidar
{
class
LidarLibGroundServiceDetectorTest
:
public
testing
::
Test
{
...
...
@@ -37,10 +31,9 @@ class LidarLibGroundServiceDetectorTest : public testing::Test {
putenv
(
cybertron_path
);
char
*
module_path
=
"MODULE_PATH="
;
putenv
(
module_path
);
lib
::
FLAGS_work_root
=
"modules/perception/testdata/lidar/lib/"
"ground_detector/ground_service_detector"
;
lib
::
FLAGS_config_manager_path
=
"./conf"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/"
"lidar/lib/ground_detector/ground_service_detector"
;
FLAGS_config_manager_path
=
"./conf"
;
lib
::
ConfigManager
*
config_manager
=
lib
::
Singleton
<
lib
::
ConfigManager
>::
get_instance
();
config_manager
->
Reset
();
...
...
modules/perception/lidar/test/lidar_lib_hm_tracker_hm_mutil_target_tracker_test.cc
浏览文件 @
c0303341
...
...
@@ -29,11 +29,8 @@
namespace
apollo
{
namespace
perception
{
namespace
lib
{
DECLARE_string
(
work_root
);
}
namespace
lidar
{
class
HmMultiTargetTrackerTest
:
public
testing
::
Test
{
protected:
typedef
std
::
pair
<
size_t
,
size_t
>
TrackObjectPair
;
...
...
@@ -42,8 +39,8 @@ class HmMultiTargetTrackerTest : public testing::Test {
putenv
(
cybertron_path
);
char
*
module_path
=
"MODULE_PATH="
;
putenv
(
module_path
);
lib
::
FLAGS_work_root
=
"
modules/perception/testdata/
lidar/lib/tracker/hm_tracker/"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/"
"lidar/lib/tracker/hm_tracker/"
;
object_builder_
=
new
ObjectBuilder
();
hm_tracker_
=
new
HmMultiTargetTracker
();
...
...
modules/perception/lidar/test/lidar_lib_hm_tracker_kalman_filter_test.cc
浏览文件 @
c0303341
...
...
@@ -31,10 +31,6 @@
namespace
apollo
{
namespace
perception
{
namespace
lib
{
DECLARE_string
(
work_root
);
}
namespace
lidar
{
class
KalmanFilterTest
:
public
testing
::
Test
{
...
...
@@ -45,8 +41,8 @@ class KalmanFilterTest : public testing::Test {
putenv
(
cybertron_path
);
char
*
module_path
=
"MODULE_PATH="
;
putenv
(
module_path
);
lib
::
FLAGS_work_root
=
"
modules/perception/testdata/
lidar/lib/tracker/hm_tracker"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/"
"lidar/lib/tracker/hm_tracker"
;
object_builder_
=
new
ObjectBuilder
();
filter_
.
reset
(
new
KalmanFilter
);
config_manager_
=
lib
::
Singleton
<
lib
::
ConfigManager
>::
get_instance
();
...
...
modules/perception/lidar/test/lidar_lib_hm_tracker_object_track_matcher_test.cc
浏览文件 @
c0303341
...
...
@@ -30,10 +30,6 @@
namespace
apollo
{
namespace
perception
{
namespace
lib
{
DECLARE_string
(
work_root
);
}
namespace
lidar
{
class
ObjectTrackMatcherTest
:
public
testing
::
Test
{
...
...
@@ -44,8 +40,8 @@ class ObjectTrackMatcherTest : public testing::Test {
putenv
(
cybertron_path
);
char
*
module_path
=
"MODULE_PATH="
;
putenv
(
module_path
);
lib
::
FLAGS_work_root
=
"
modules/perception/testdata/
lidar/lib/tracker/hm_tracker"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/"
"lidar/lib/tracker/hm_tracker"
;
object_builder_
=
new
ObjectBuilder
();
config_manager_
=
lib
::
Singleton
<
lib
::
ConfigManager
>::
get_instance
();
CHECK_NOTNULL
(
config_manager_
);
...
...
modules/perception/lidar/test/lidar_lib_hm_tracker_track_post_processor_test.cc
浏览文件 @
c0303341
...
...
@@ -30,11 +30,8 @@
namespace
apollo
{
namespace
perception
{
namespace
lib
{
DECLARE_string
(
work_root
);
}
namespace
lidar
{
class
TrackPostProcessorTest
:
public
testing
::
Test
{
protected:
typedef
std
::
pair
<
size_t
,
size_t
>
TrackObjectPair
;
...
...
@@ -44,8 +41,8 @@ class TrackPostProcessorTest : public testing::Test {
putenv
(
cybertron_path
);
char
*
module_path
=
"MODULE_PATH="
;
putenv
(
module_path
);
lib
::
FLAGS_work_root
=
"
modules/perception/testdata/
lidar/lib/tracker/hm_tracker"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/"
"lidar/lib/tracker/hm_tracker"
;
object_builder_
=
new
ObjectBuilder
();
config_manager_
=
lib
::
Singleton
<
lib
::
ConfigManager
>::
get_instance
();
...
...
modules/perception/lidar/test/lidar_lib_map_manager_test.cc
浏览文件 @
c0303341
...
...
@@ -19,12 +19,6 @@
namespace
apollo
{
namespace
perception
{
namespace
lib
{
DECLARE_string
(
config_manager_path
);
DECLARE_string
(
work_root
);
}
// namespace lib
namespace
lidar
{
TEST
(
LidarLibMapManagerTest
,
lidar_map_manager_empty_test
)
{
...
...
@@ -33,8 +27,8 @@ TEST(LidarLibMapManagerTest, lidar_map_manager_empty_test) {
char
module_path
[
100
]
=
"MODULE_PATH="
;
putenv
(
module_path
);
lib
::
FLAGS_work_root
=
"
modules/perception/testdata/lidar/lib/map_manager"
;
lib
::
FLAGS_config_manager_path
=
"./empty_conf"
;
FLAGS_work_root
=
"/apollo/
modules/perception/testdata/lidar/lib/map_manager"
;
FLAGS_config_manager_path
=
"./empty_conf"
;
lib
::
ConfigManager
*
config_manager
=
lib
::
Singleton
<
lib
::
ConfigManager
>::
get_instance
();
config_manager
->
Reset
();
...
...
@@ -53,8 +47,8 @@ TEST(LidarLibMapManagerTest, lidar_map_manager_test) {
char
module_path
[
100
]
=
"MODULE_PATH="
;
putenv
(
module_path
);
lib
::
FLAGS_work_root
=
"
modules/perception/testdata/lidar/lib/map_manager"
;
lib
::
FLAGS_config_manager_path
=
"./conf"
;
FLAGS_work_root
=
"/apollo/
modules/perception/testdata/lidar/lib/map_manager"
;
FLAGS_config_manager_path
=
"./conf"
;
lib
::
ConfigManager
*
config_manager
=
lib
::
Singleton
<
lib
::
ConfigManager
>::
get_instance
();
config_manager
->
Reset
();
...
...
modules/perception/lidar/test/lidar_lib_object_filter_bank_filter_bank_test.cc
浏览文件 @
c0303341
...
...
@@ -18,10 +18,6 @@
namespace
apollo
{
namespace
perception
{
namespace
lib
{
DECLARE_string
(
work_root
);
}
namespace
lidar
{
class
MockObjectFilter1
:
public
BaseObjectFilter
{
...
...
@@ -67,8 +63,8 @@ TEST(LidarLibObjectFilterBankTest, lidar_lib_object_filter_bank_test) {
putenv
(
cybertron_path
);
char
module_path
[
100
]
=
"MODULE_PATH="
;
putenv
(
module_path
);
lib
::
FLAGS_work_root
=
"
modules/perception/testdata/
lidar/lib/object_filter_bank/filter_bank"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/"
"lidar/lib/object_filter_bank/filter_bank"
;
ObjectFilterBank
filter_bank
;
EXPECT_EQ
(
filter_bank
.
Name
(),
"ObjectFilterBank"
);
...
...
modules/perception/lidar/test/lidar_lib_object_filter_bank_roi_boundary_filter_test.cc
浏览文件 @
c0303341
...
...
@@ -20,10 +20,6 @@
namespace
apollo
{
namespace
perception
{
namespace
lib
{
DECLARE_string
(
work_root
);
}
namespace
lidar
{
class
ROIBoundaryFilterTest
:
public
testing
::
Test
{
...
...
@@ -33,8 +29,7 @@ class ROIBoundaryFilterTest : public testing::Test {
putenv
(
cybertron_path
);
char
module_path
[
100
]
=
"MODULE_PATH="
;
putenv
(
module_path
);
lib
::
FLAGS_work_root
=
"modules/perception/testdata/lidar/lib/object_filter_bank/roi_boundary"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/lidar/lib/object_filter_bank/roi_boundary"
;
}
void
TearDown
()
{}
...
...
modules/perception/lidar/test/lidar_lib_pointcloud_preprocessor_test.cc
浏览文件 @
c0303341
...
...
@@ -18,10 +18,6 @@
namespace
apollo
{
namespace
perception
{
namespace
lib
{
DECLARE_string
(
work_root
);
}
namespace
lidar
{
class
PointCloudPreprocessorTest
:
public
testing
::
Test
{
...
...
@@ -31,8 +27,8 @@ class PointCloudPreprocessorTest : public testing::Test {
putenv
(
cybertron_path
);
char
module_path
[
100
]
=
"MODULE_PATH="
;
putenv
(
module_path
);
lib
::
FLAGS_work_root
=
"
modules/perception/testdata/
lidar/lib/pointcloud_preprocessor"
;
FLAGS_work_root
=
"/apollo/modules/perception/testdata/"
"lidar/lib/pointcloud_preprocessor"
;
}
void
TearDown
()
{}
...
...
modules/perception/lidar/test/lidar_lib_scene_manager_test.cc
浏览文件 @
c0303341
...
...
@@ -27,14 +27,9 @@
#include "modules/perception/lidar/lib/scene_manager/ground_service/ground_service.h"
#include "modules/perception/lidar/lib/scene_manager/roi_service/roi_service.h"
#include "modules/perception/lidar/lib/scene_manager/scene_manager.h"
namespace
apollo
{
namespace
perception
{
namespace
lib
{
DECLARE_string
(
config_manager_path
);
DECLARE_string
(
work_root
);
}
// namespace lib
namespace
lidar
{
class
LidarLibSceneManagerTest
:
public
testing
::
Test
{
...
...
@@ -44,8 +39,8 @@ class LidarLibSceneManagerTest : public testing::Test {
putenv
(
cybertron_path
);
char
*
module_path
=
"MODULE_PATH="
;
putenv
(
module_path
);
lib
::
FLAGS_work_root
=
"
modules/perception/testdata/lidar/lib/scene_manager"
;
lib
::
FLAGS_config_manager_path
=
"./conf"
;
FLAGS_work_root
=
"/apollo/
modules/perception/testdata/lidar/lib/scene_manager"
;
FLAGS_config_manager_path
=
"./conf"
;
lib
::
ConfigManager
*
config_manager
=
lib
::
Singleton
<
lib
::
ConfigManager
>::
get_instance
();
config_manager
->
Reset
();
...
...
modules/perception/map/hdmap/hdmap_input_test.cc
浏览文件 @
c0303341
...
...
@@ -25,10 +25,8 @@
namespace
apollo
{
namespace
perception
{
namespace
lib
{
DECLARE_string
(
config_manager_path
);
}
namespace
map
{
// using apollo::perception::lib::ConfigManager;
// using adu::hdmap::JunctionInfo;
// using adu::hdmap::JunctionInfoConstPtr;
...
...
@@ -40,8 +38,8 @@ class HDMapInputTest : public testing::Test {
// putenv(cybertron_path);
// char* module_path = "MODULE_PATH=";
// putenv(module_path);
//
lib::FLAGS_config_manager_path =
// "m
odules/perception/testdata/m
ap/hdmap/conf";
//
FLAGS_config_manager_path = "/apollo/modules/perception/testdata/"
// "map/hdmap/conf";
// config_manager_ = lib::Singleton<ConfigManager>::get_instance();
// ASSERT_TRUE(config_manager_ != NULL);
}
...
...
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