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fix(object_recognition_utils): check polygon area on iou calculation #6701

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merged 4 commits into from
Apr 2, 2024
Merged

fix(object_recognition_utils): check polygon area on iou calculation #6701

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235f940
feat(object_recognition_utils): check input polygon on IoU calculations
technolojin Mar 19, 2024
8860bcc
fix: MIN_AREA close to the epsilon of float 1e-6
technolojin Mar 28, 2024
7c12f4a
Merge branch 'main' into feat/check-polygon-area-on-IoU
technolojin Mar 29, 2024
01c498b
Merge branch 'main' into feat/check-polygon-area-on-IoU
technolojin Apr 1, 2024
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20 changes: 15 additions & 5 deletions common/object_recognition_utils/include/object_recognition_utils/matching.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,8 @@
namespace object_recognition_utils
{
using tier4_autoware_utils::Polygon2d;
// minimum area to avoid division by zero
static const double MIN_AREA = 1e-6;

inline double getConvexShapeArea(const Polygon2d & source_polygon, const Polygon2d & target_polygon)
{
Expand Down Expand Up @@ -66,10 +68,12 @@ template <class T1, class T2>
double get2dIoU(const T1 source_object, const T2 target_object, const double min_union_area = 0.01)
{
const auto source_polygon = tier4_autoware_utils::toPolygon2d(source_object);
if (boost::geometry::area(source_polygon) < MIN_AREA) return 0.0;
const auto target_polygon = tier4_autoware_utils::toPolygon2d(target_object);
if (boost::geometry::area(target_polygon) < MIN_AREA) return 0.0;

const double intersection_area = getIntersectionArea(source_polygon, target_polygon);
if (intersection_area == 0.0) return 0.0;
if (intersection_area < MIN_AREA) return 0.0;
const double union_area = getUnionArea(source_polygon, target_polygon);

const double iou =
Expand All @@ -81,7 +85,9 @@ template <class T1, class T2>
double get2dGeneralizedIoU(const T1 & source_object, const T2 & target_object)
{
const auto source_polygon = tier4_autoware_utils::toPolygon2d(source_object);
if (boost::geometry::area(source_polygon) < MIN_AREA) return 0.0;
const auto target_polygon = tier4_autoware_utils::toPolygon2d(target_object);
if (boost::geometry::area(target_polygon) < MIN_AREA) return 0.0;

const double intersection_area = getIntersectionArea(source_polygon, target_polygon);
const double union_area = getUnionArea(source_polygon, target_polygon);
Expand All @@ -95,11 +101,13 @@ template <class T1, class T2>
double get2dPrecision(const T1 source_object, const T2 target_object)
{
const auto source_polygon = tier4_autoware_utils::toPolygon2d(source_object);
const double source_area = boost::geometry::area(source_polygon);
if (source_area < MIN_AREA) return 0.0;
const auto target_polygon = tier4_autoware_utils::toPolygon2d(target_object);
if (boost::geometry::area(target_polygon) < MIN_AREA) return 0.0;

const double intersection_area = getIntersectionArea(source_polygon, target_polygon);
if (intersection_area == 0.0) return 0.0;
const double source_area = boost::geometry::area(source_polygon);
if (intersection_area < MIN_AREA) return 0.0;

return std::min(1.0, intersection_area / source_area);
}
Expand All @@ -108,11 +116,13 @@ template <class T1, class T2>
double get2dRecall(const T1 source_object, const T2 target_object)
{
const auto source_polygon = tier4_autoware_utils::toPolygon2d(source_object);
if (boost::geometry::area(source_polygon) < MIN_AREA) return 0.0;
const auto target_polygon = tier4_autoware_utils::toPolygon2d(target_object);
const double target_area = boost::geometry::area(target_polygon);
if (target_area < MIN_AREA) return 0.0;

const double intersection_area = getIntersectionArea(source_polygon, target_polygon);
if (intersection_area == 0.0) return 0.0;
const double target_area = boost::geometry::area(target_polygon);
if (intersection_area < MIN_AREA) return 0.0;

return std::min(1.0, intersection_area / target_area);
}
Expand Down
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