From 9289b35cafc87dd1d31977bf09b341e774426b58 Mon Sep 17 00:00:00 2001
From: Yukinari Hisaki <42021302+yhisaki@users.noreply.github.com>
Date: Wed, 3 Jul 2024 10:19:09 +0900
Subject: [PATCH] fix(lidar_apollo_segmentation_tvm): add virtual destructor to
 lidar_apollo_segmentation_tvm (#7762)

* fix(lidar_apollo_segmentation_tvm): add virtual destructor to lidar_apollo_segmentation_tvm

Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>

* small change

Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>

---------

Signed-off-by: Y.Hisaki <yhisaki31@gmail.com>
---
 .../lidar_apollo_segmentation_tvm/feature_generator.hpp    | 2 --
 .../include/lidar_apollo_segmentation_tvm/feature_map.hpp  | 3 ++-
 .../lidar_apollo_segmentation_tvm.hpp                      | 5 -----
 .../src/feature_generator.cpp                              | 5 +----
 .../src/lidar_apollo_segmentation_tvm.cpp                  | 7 +------
 5 files changed, 4 insertions(+), 18 deletions(-)

diff --git a/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/feature_generator.hpp b/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/feature_generator.hpp
index 5cecda966d198..84cf7957d2e7e 100644
--- a/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/feature_generator.hpp
+++ b/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/feature_generator.hpp
@@ -37,8 +37,6 @@ namespace lidar_apollo_segmentation_tvm
 class LIDAR_APOLLO_SEGMENTATION_TVM_LOCAL FeatureGenerator
 {
 private:
-  const bool use_intensity_feature_;
-  const bool use_constant_feature_;
   const float min_height_;
   const float max_height_;
   std::shared_ptr<FeatureMapInterface> map_ptr_;
diff --git a/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/feature_map.hpp b/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/feature_map.hpp
index 349dfc7f1f0ad..f78f11c8aed56 100644
--- a/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/feature_map.hpp
+++ b/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/feature_map.hpp
@@ -15,7 +15,7 @@
 #ifndef LIDAR_APOLLO_SEGMENTATION_TVM__FEATURE_MAP_HPP_
 #define LIDAR_APOLLO_SEGMENTATION_TVM__FEATURE_MAP_HPP_
 
-#include <memory>
+#include <cstdint>
 #include <vector>
 
 namespace autoware
@@ -45,6 +45,7 @@ struct FeatureMapInterface
   virtual void initializeMap(std::vector<float> & map) = 0;
   virtual void resetMap(std::vector<float> & map) = 0;
   explicit FeatureMapInterface(int32_t _channels, int32_t _width, int32_t _height, int32_t _range);
+  virtual ~FeatureMapInterface() {}
 };
 
 /// \brief FeatureMap with no extra feature channels.
diff --git a/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/lidar_apollo_segmentation_tvm.hpp b/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/lidar_apollo_segmentation_tvm.hpp
index 7f8c5f51f73a6..044f319c4d335 100644
--- a/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/lidar_apollo_segmentation_tvm.hpp
+++ b/perception/lidar_apollo_segmentation_tvm/include/lidar_apollo_segmentation_tvm/lidar_apollo_segmentation_tvm.hpp
@@ -164,12 +164,7 @@ class LIDAR_APOLLO_SEGMENTATION_TVM_PUBLIC ApolloLidarSegmentation
   tvm_utility::Version version_check() const;
 
 private:
-  const int32_t range_;
-  const float score_threshold_;
   const float z_offset_;
-  const float objectness_thresh_;
-  const int32_t min_pts_num_;
-  const float height_thresh_;
   const pcl::PointCloud<pcl::PointXYZI>::Ptr pcl_pointcloud_ptr_;
   // Earliest supported model version.
   const std::array<int8_t, 3> model_version_from{2, 0, 0};
diff --git a/perception/lidar_apollo_segmentation_tvm/src/feature_generator.cpp b/perception/lidar_apollo_segmentation_tvm/src/feature_generator.cpp
index edf8276065163..fd038efc60ffb 100644
--- a/perception/lidar_apollo_segmentation_tvm/src/feature_generator.cpp
+++ b/perception/lidar_apollo_segmentation_tvm/src/feature_generator.cpp
@@ -35,10 +35,7 @@ inline float normalizeIntensity(float intensity)
 FeatureGenerator::FeatureGenerator(
   const int32_t width, const int32_t height, const int32_t range, const bool use_intensity_feature,
   const bool use_constant_feature, const float min_height, const float max_height)
-: use_intensity_feature_(use_intensity_feature),
-  use_constant_feature_(use_constant_feature),
-  min_height_(min_height),
-  max_height_(max_height)
+: min_height_(min_height), max_height_(max_height)
 {
   // select feature map type
   if (use_constant_feature && use_intensity_feature) {
diff --git a/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp b/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp
index e78cd57b3a4a1..9d41770eb5331 100644
--- a/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp
+++ b/perception/lidar_apollo_segmentation_tvm/src/lidar_apollo_segmentation_tvm.cpp
@@ -109,12 +109,7 @@ ApolloLidarSegmentation::ApolloLidarSegmentation(
   int32_t range, float score_threshold, bool use_intensity_feature, bool use_constant_feature,
   float z_offset, float min_height, float max_height, float objectness_thresh, int32_t min_pts_num,
   float height_thresh, const std::string & data_path)
-: range_(range),
-  score_threshold_(score_threshold),
-  z_offset_(z_offset),
-  objectness_thresh_(objectness_thresh),
-  min_pts_num_(min_pts_num),
-  height_thresh_(height_thresh),
+: z_offset_(z_offset),
   pcl_pointcloud_ptr_(new pcl::PointCloud<pcl::PointXYZI>),
   PreP(std::make_shared<PrePT>(
     config, range, use_intensity_feature, use_constant_feature, min_height, max_height)),