Fix multi-tracking unit test

object_analytics_node/CMakeLists.txt

@@ -271,7 +271,7 @@ if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()
 
-  # add_subdirectory(tests)
+  add_subdirectory(tests)
 endif()
 
 install(DIRECTORY launch

object_analytics_node/include/object_analytics_node/tracker/tracking.hpp

@@ -75,12 +75,9 @@ class Tracking
    *
    * @param[in] tracking_id ID of this tracking.
    * @param[in] name Name of the tracked object.
-   * @param[in] probability of the tracked object.
-   * @param[in] rect Roi of the tracked object.
    */
   Tracking(
-    int32_t tracking_id, const std::string & name,
-    const float & probability, const cv::Rect2d & rect);
+    int32_t tracking_id, const std::string & name);
 
   /**
    * @brief Default destructor.

object_analytics_node/include/object_analytics_node/tracker/tracking_manager.hpp

@@ -113,14 +113,10 @@ class TrackingManager
    * the tracking_cnt automatically increases by one.
    *
    * @param[in] obj_name Name of the object (e.g. people, dog, etc.).
-   * @param[in] probability the object.
-   * @param[in] rect Roi of the tracked object.
    * @return Pointer to the tracking added.
    */
   std::shared_ptr<Tracking> addTracking(
-    const std::string & obj_name,
-    const float & probability,
-    const cv::Rect2d & rect);
+    const std::string & obj_name);
 
   /**
    * @brief Clean up inactive tracking in the list.

object_analytics_node/src/tracker/tracking.cpp

@@ -31,16 +31,13 @@ const int32_t Tracking::kTrajLength = 30;
 #define DEBUG_ID 2
 
 Tracking::Tracking(
-  int32_t tracking_id, const std::string & name,
-  const float & probability, const cv::Rect2d & rect)
+  int32_t tracking_id, const std::string & name)
 : tracker_(cv::Ptr<TrackerKCFImpl>()),
   obj_name_(name),
-  probability_(probability),
   tracking_id_(tracking_id),
   algo_("KCF"),
   state_(INIT)
 {
-  UNUSED(rect);
   UNUSED(name);
 }
 

object_analytics_node/src/tracker/tracking_manager.cpp

@@ -245,8 +245,7 @@ void TrackingManager::detectRecvProcess(
       cv::Rect2d d_rect = objs[i].BoundBox_;
       tracker->updateTracker(frame, d_rect, 100.0f, true);
     } else {
-      std::shared_ptr<Tracking> tracker = addTracking(
-        objs[i].Category_, objs[i].Confidence_, objs[i].BoundBox_);
+      std::shared_ptr<Tracking> tracker = addTracking(objs[i].Category_);
       tracker->rectifyTracker(frame, objs[i].BoundBox_);
     }
   }
@@ -514,12 +513,10 @@ std::vector<std::shared_ptr<Tracking>> TrackingManager::getTrackedObjs()
 }
 
 std::shared_ptr<Tracking> TrackingManager::addTracking(
-  const std::string & name,
-  const float & probability,
-  const cv::Rect2d & rect)
+  const std::string & name)
 {
   std::shared_ptr<Tracking> t =
-    std::make_shared<Tracking>(tracking_cnt++, name, probability, rect);
+    std::make_shared<Tracking>(tracking_cnt++, name);
   if (tracking_cnt == -1) {
     TRACE_ERR("tracking count overflow");
   }

object_analytics_node/tests/unittest_segmenter.cpp

@@ -83,13 +83,12 @@ TEST(UnitTestSegmenter, segmenter) {
 
   std::unique_ptr<Segmenter> impl;
   impl.reset(new Segmenter(std::unique_ptr<AlgoProvider>(new AlgoProvider())));
-  std::shared_ptr<ObjectsInBoxes3D> obj3ds =
-    std::make_shared<ObjectsInBoxes3D>();
+  ObjectsInBoxes3D obj3ds;
 
   impl->segment(objects_in_boxes2d, cloudMsg, obj3ds);
 
-  EXPECT_EQ(static_cast<size_t>(1), obj3ds->objects_in_boxes.size());
-  ObjectInBox3D obj3d = obj3ds->objects_in_boxes[0];
+  EXPECT_EQ(static_cast<size_t>(1), obj3ds.objects_in_boxes.size());
+  ObjectInBox3D obj3d = obj3ds.objects_in_boxes[0];
 
   EXPECT_TRUE(obj3d.min == getPoint32(0.1, 0.2, 0.3));
   EXPECT_TRUE(obj3d.max == getPoint32(44.1, 44.2, 44.3));

object_analytics_node/tests/unittest_tracking.cpp

@@ -16,39 +16,39 @@
 #include <gtest/gtest.h>
 #include <cassert>
 #include <string>
-#include "object_analytics_node/tracker/tracking.hpp"
+#include "tracker/tracking.hpp"
 
 TEST(UnitTestTracking, TrackingNomal) {
-  object_analytics_node::tracker::Tracking t(2, "cat", 0.7,
-    cv::Rect2d(100, 100, 200, 300));
+  cv::Mat image = cv::Mat::zeros(640, 480, CV_32F);
+  timespec stamp;
+  stamp.tv_sec = 1;
+  stamp.tv_nsec = 1;
+  std::shared_ptr<sFrame> frame = std::make_shared<sFrame>(image, stamp);
+  tracker::Tracking t(2, "cat");
+  t.rectifyTracker(frame, cv::Rect2d(100,100,200,300));
+
   EXPECT_EQ(t.getObjName(), std::string("cat"));
   EXPECT_EQ(t.getTrackingId(), int32_t(2));
-  EXPECT_NEAR(t.getObjProbability(), 0.7, 0.000001);
   EXPECT_EQ(t.getTrackedRect().x, 100);
   EXPECT_EQ(t.getTrackedRect().y, 100);
   EXPECT_EQ(t.getTrackedRect().height, 300);
   EXPECT_EQ(t.getTrackedRect().width, 200);
-  EXPECT_EQ(t.isDetected(), false);
-  t.setDetected();
-  EXPECT_EQ(t.isDetected(), true);
-  t.clearDetected();
-  EXPECT_EQ(t.isDetected(), false);
 }
 TEST(UnitTestTracking, TrackingNullName) {
-  object_analytics_node::tracker::Tracking t(2, "", 0.7,
-    cv::Rect2d(100, 100, 200, 300));
+  cv::Mat image = cv::Mat::zeros(640, 480, CV_32F);
+  timespec stamp;
+  stamp.tv_sec = 1;
+  stamp.tv_nsec = 1;
+  std::shared_ptr<sFrame> frame = std::make_shared<sFrame>(image, stamp);
+  tracker::Tracking t(2, "");
+  t.rectifyTracker(frame, cv::Rect2d(100,100,200,300));
+
   EXPECT_EQ(t.getObjName(), std::string(""));
   EXPECT_EQ(t.getTrackingId(), int32_t(2));
-  EXPECT_NEAR(t.getObjProbability(), 0.7, 0.000001);
   EXPECT_EQ(t.getTrackedRect().x, 100);
   EXPECT_EQ(t.getTrackedRect().y, 100);
   EXPECT_EQ(t.getTrackedRect().height, 300);
   EXPECT_EQ(t.getTrackedRect().width, 200);
-  EXPECT_EQ(t.isDetected(), false);
-  t.setDetected();
-  EXPECT_EQ(t.isDetected(), true);
-  t.clearDetected();
-  EXPECT_EQ(t.isDetected(), false);
 }
 
 int main(int argc, char ** argv)