test_readme_example.cpp

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// Copyright Institute for Automotive Engineering (ika), RWTH Aachen University
// SPDX-License-Identifier: Apache-2.0
 
#include "pcod_common/pbod_postprocess.hpp"
#include "pcod_common/pillar_grid.hpp"
#include "pcod_common/point_preprocess.hpp"
 
#include <cassert>
#include <vector>
 
int main() {
  pcod_common::PointPreprocessConfig pre_cfg;
  pre_cfg.x_min = -1.0f;
  pre_cfg.x_max = 1.0f;
  pre_cfg.y_min = -1.0f;
  pre_cfg.y_max = 1.0f;
  pre_cfg.z_min = -1.0f;
  pre_cfg.z_max = 1.0f;
  pre_cfg.normalization_type = pcod_common::PointFeatureNormalizationType::kValueThreshold;
  pre_cfg.value_threshold = 10.0f;
 
  pcod_common::PointPreprocessor preprocessor(pre_cfg);
  assert(preprocessor.IsPointValid(0.5f, 0.1f, 0.0f));
 
  pcod_common::PillarGrid grid = pcod_common::BuildPillarGrid({2, 2}, {{{0.0f, 2.0f}, {0.0f, 2.0f}, {0.0f, 1.0f}}}, 1, 1);
 
  const int num_pillars = 4;
  const int num_classes = 2;
  float focal_logits[num_pillars] = {2.0f, -2.0f, 2.0f, -2.0f};
  std::vector<float> size_posterior(static_cast<std::size_t>(num_pillars * num_classes * 3), 1.0f);
  float class_logits[num_pillars * num_classes] = {0.1f, 0.9f, 0.1f, 0.9f, 0.1f, 0.9f, 0.1f, 0.9f};
  std::vector<float> reg_logits(static_cast<std::size_t>(num_pillars * num_classes * 7), 0.0f);
 
  pcod_common::PbodOutputsView view;
  view.focal_logits = focal_logits;
  view.size_posterior = size_posterior.data();
  view.class_logits = class_logits;
  view.reg_logits = reg_logits.data();
  view.num_pillars = num_pillars;
  view.num_classes = num_classes;
  view.reg_dim = 7;
 
  pcod_common::PbodPostprocessConfig post_cfg;
  post_cfg.class_names = {"car", "pedestrian"};
  post_cfg.score_thresholds = {0.5f};
 
  auto boxes = pcod_common::DecodePbod(view, grid, post_cfg);
  const std::size_t expected_boxes = 2;
  assert(boxes.size() == expected_boxes);
  return 0;
}