chore(autoware_lidar_centerpoint): updated tests (autowarefoundation#…

…8158) chore: updated centerpoin tests. they are currently commented out but they were not compiling (forgot to update them when I added the new cloud capacity parameter) Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
a-maumau · Jul 28, 2024 · 47eb31e · 47eb31e
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commit 47eb31e
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Showing 3 changed files with 13 additions and 10 deletions.
diff --git a/perception/autoware_lidar_centerpoint/test/test_postprocess_kernel.cpp b/perception/autoware_lidar_centerpoint/test/test_postprocess_kernel.cpp
@@ -29,6 +29,7 @@ void PostprocessKernelTest::SetUp()
 
   constexpr std::size_t class_size{5};
   constexpr std::size_t point_feature_size{4};
+  const std::size_t cloud_capacity{2000000};
   constexpr std::size_t max_voxel_size{100000000};
   const std::vector<double> point_cloud_range{-76.8, -76.8, -4.0, 76.8, 76.8, 6.0};
   const std::vector<double> voxel_size{0.32, 0.32, 10.0};
@@ -40,7 +41,7 @@ void PostprocessKernelTest::SetUp()
   constexpr bool has_variance{false};
 
   config_ptr_ = std::make_unique<autoware::lidar_centerpoint::CenterPointConfig>(
-    class_size, point_feature_size, max_voxel_size, point_cloud_range, voxel_size,
+    class_size, point_feature_size, cloud_capacity, max_voxel_size, point_cloud_range, voxel_size,
     downsample_factor, encoder_in_feature_size, score_threshold, circle_nms_dist_threshold,
     yaw_norm_thresholds, has_variance);
 

diff --git a/perception/autoware_lidar_centerpoint/test/test_voxel_generator.cpp b/perception/autoware_lidar_centerpoint/test/test_voxel_generator.cpp
@@ -31,6 +31,7 @@ void VoxelGeneratorTest::SetUp()
 
   class_size_ = 5;
   point_feature_size_ = 4;
+  cloud_capacity_ = 2000000;
   max_voxel_size_ = 100000000;
   point_cloud_range_ = std::vector<double>{-76.8, -76.8, -4.0, 76.8, 76.8, 6.0};
   voxel_size_ = std::vector<double>{0.32, 0.32, 10.0};
@@ -110,9 +111,9 @@ TEST_F(VoxelGeneratorTest, SingleFrame)
   autoware::lidar_centerpoint::DensificationParam param(world_frame_, num_past_frames);
 
   autoware::lidar_centerpoint::CenterPointConfig config(
-    class_size_, point_feature_size_, max_voxel_size_, point_cloud_range_, voxel_size_,
-    downsample_factor_, encoder_in_feature_size_, score_threshold_, circle_nms_dist_threshold_,
-    yaw_norm_thresholds_, has_variance_);
+    class_size_, point_feature_size_, cloud_capacity_, max_voxel_size_, point_cloud_range_,
+    voxel_size_, downsample_factor_, encoder_in_feature_size_, score_threshold_,
+    circle_nms_dist_threshold_, yaw_norm_thresholds_, has_variance_);
 
   autoware::lidar_centerpoint::VoxelGenerator voxel_generator(param, config);
   std::vector<float> points;
@@ -157,9 +158,9 @@ TEST_F(VoxelGeneratorTest, TwoFramesNoTf)
   autoware::lidar_centerpoint::DensificationParam param(world_frame_, num_past_frames);
 
   autoware::lidar_centerpoint::CenterPointConfig config(
-    class_size_, point_feature_size_, max_voxel_size_, point_cloud_range_, voxel_size_,
-    downsample_factor_, encoder_in_feature_size_, score_threshold_, circle_nms_dist_threshold_,
-    yaw_norm_thresholds_, has_variance_);
+    class_size_, point_feature_size_, cloud_capacity_, max_voxel_size_, point_cloud_range_,
+    voxel_size_, downsample_factor_, encoder_in_feature_size_, score_threshold_,
+    circle_nms_dist_threshold_, yaw_norm_thresholds_, has_variance_);
 
   autoware::lidar_centerpoint::VoxelGenerator voxel_generator(param, config);
   std::vector<float> points;
@@ -191,9 +192,9 @@ TEST_F(VoxelGeneratorTest, TwoFrames)
   autoware::lidar_centerpoint::DensificationParam param(world_frame_, num_past_frames);
 
   autoware::lidar_centerpoint::CenterPointConfig config(
-    class_size_, point_feature_size_, max_voxel_size_, point_cloud_range_, voxel_size_,
-    downsample_factor_, encoder_in_feature_size_, score_threshold_, circle_nms_dist_threshold_,
-    yaw_norm_thresholds_, has_variance_);
+    class_size_, point_feature_size_, cloud_capacity_, max_voxel_size_, point_cloud_range_,
+    voxel_size_, downsample_factor_, encoder_in_feature_size_, score_threshold_,
+    circle_nms_dist_threshold_, yaw_norm_thresholds_, has_variance_);
 
   autoware::lidar_centerpoint::VoxelGenerator voxel_generator(param, config);
   std::vector<float> points;

diff --git a/perception/autoware_lidar_centerpoint/test/test_voxel_generator.hpp b/perception/autoware_lidar_centerpoint/test/test_voxel_generator.hpp
@@ -51,6 +51,7 @@ class VoxelGeneratorTest : public testing::Test
 
   std::size_t class_size_{};
   float point_feature_size_{};
+  std::size_t cloud_capacity_{};
   std::size_t max_voxel_size_{};
 
   std::vector<double> point_cloud_range_{};