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perception/lidar_centerpoint/test
1 file changed +6
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#include < gtest/gtest.h>
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- using namespace centerpoint ;
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-
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- TEST (NonMaximumSuppressionTest, Apply)
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- {
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- NonMaximumSuppression nms;
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- NMSParams params;
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+ TEST (NonMaximumSuppressionTest, Apply) {
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+ centerpoint::NonMaximumSuppression nms;
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+ centerpoint::NMSParams params;
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params.search_distance_2d_ = 1.0 ;
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params.iou_threshold_ = 0.2 ;
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- params.nms_type_ = NMS_TYPE::IoU_BEV;
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+ params.nms_type_ = centerpoint:: NMS_TYPE::IoU_BEV;
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params.target_class_names_ = {" CAR" };
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nms.setParameters (params);
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- std::vector<DetectedObject> input_objects (4 );
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+ std::vector<centerpoint:: DetectedObject> input_objects (4 );
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// Object 1
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autoware_auto_perception_msgs::msg::ObjectClassification obj1_classification;
@@ -90,7 +87,7 @@ TEST(NonMaximumSuppressionTest, Apply)
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input_objects[3 ].shape .dimensions .x = 0.5 ;
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input_objects[3 ].shape .dimensions .y = 0.5 ;
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- std::vector<DetectedObject> output_objects = nms.apply (input_objects);
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+ std::vector<centerpoint:: DetectedObject> output_objects = nms.apply (input_objects);
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// Assert the expected number of output objects
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EXPECT_EQ (output_objects.size (), 3 );
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