fix: fixed cherrycommit induced errors

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

perception/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<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);
 

perception/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)
   centerpoint::DensificationParam param(world_frame_, num_past_frames);
 
   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_);
 
   centerpoint::VoxelGenerator voxel_generator(param, config);
   std::vector<float> points;
@@ -157,9 +158,9 @@ TEST_F(VoxelGeneratorTest, TwoFramesNoTf)
   centerpoint::DensificationParam param(world_frame_, num_past_frames);
 
   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_);
 
   centerpoint::VoxelGenerator voxel_generator(param, config);
   std::vector<float> points;
@@ -191,9 +192,9 @@ TEST_F(VoxelGeneratorTest, TwoFrames)
   centerpoint::DensificationParam param(world_frame_, num_past_frames);
 
   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_);
 
   centerpoint::VoxelGenerator voxel_generator(param, config);
   std::vector<float> points;

perception/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_{};

perception/lidar_transfusion/include/lidar_transfusion/transfusion_config.hpp

@@ -64,6 +64,9 @@ class TransfusionConfig
       voxel_y_size_ = static_cast<float>(voxel_size[1]);
       voxel_z_size_ = static_cast<float>(voxel_size[2]);
     }
+    if (num_proposals > 0) {
+      num_proposals_ = num_proposals;
+    }
     if (score_threshold > 0.0) {
       score_threshold_ = score_threshold;
     }
@@ -110,7 +113,7 @@ class TransfusionConfig
   const std::size_t out_size_factor_{4};
   const std::size_t max_num_points_per_pillar_{points_per_voxel_};
   const std::size_t num_point_values_{4};
-  const std::size_t num_proposals_{200};
+  std::size_t num_proposals_{200};
   // the number of feature maps for pillar scatter
   const std::size_t num_feature_scatter_{pillar_feature_size_};
   // the score threshold for classification

perception/lidar_transfusion/src/lidar_transfusion_node.cpp

@@ -77,8 +77,8 @@ LidarTransfusionNode::LidarTransfusionNode(const rclcpp::NodeOptions & options)
   DensificationParam densification_param(
     densification_world_frame_id, densification_num_past_frames);
   TransfusionConfig config(
-    voxels_num, point_cloud_range, voxel_size, num_proposals, circle_nms_dist_threshold,
-    yaw_norm_thresholds, score_threshold);
+    cloud_capacity, voxels_num, point_cloud_range, voxel_size, num_proposals,
+    circle_nms_dist_threshold, yaw_norm_thresholds, score_threshold);
 
   const auto allow_remapping_by_area_matrix =
     this->declare_parameter<std::vector<int64_t>>("allow_remapping_by_area_matrix", descriptor);