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test_conversion.cpp
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// Copyright 2022 TIER IV, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "autoware/object_recognition_utils/conversion.hpp"
#include "autoware/universe_utils/geometry/geometry.hpp"
#include <gtest/gtest.h>
namespace
{
geometry_msgs::msg::Point32 createPoint32(const double x, const double y, const double z)
{
geometry_msgs::msg::Point32 p;
p.x = x;
p.y = y;
p.z = z;
return p;
}
autoware_perception_msgs::msg::ObjectClassification createObjectClassification(
const std::uint8_t label, const double probability)
{
autoware_perception_msgs::msg::ObjectClassification classification;
classification.label = label;
classification.probability = probability;
return classification;
}
} // namespace
// NOTE: covariance is not checked
TEST(conversion, test_toDetectedObject)
{
using autoware::object_recognition_utils::toDetectedObject;
using autoware_perception_msgs::msg::ObjectClassification;
autoware_perception_msgs::msg::TrackedObject tracked_obj;
// existence probability
tracked_obj.existence_probability = 1.0;
// classification
tracked_obj.classification.push_back(createObjectClassification(ObjectClassification::CAR, 0.8));
tracked_obj.classification.push_back(
createObjectClassification(ObjectClassification::TRUCK, 0.8));
tracked_obj.classification.push_back(createObjectClassification(ObjectClassification::BUS, 0.7));
// kinematics
tracked_obj.kinematics.pose_with_covariance.pose.position.x = 1.0;
tracked_obj.kinematics.pose_with_covariance.pose.position.y = 2.0;
tracked_obj.kinematics.pose_with_covariance.pose.position.z = 3.0;
tracked_obj.kinematics.pose_with_covariance.pose.orientation.x = 4.0;
tracked_obj.kinematics.pose_with_covariance.pose.orientation.y = 5.0;
tracked_obj.kinematics.pose_with_covariance.pose.orientation.z = 6.0;
tracked_obj.kinematics.pose_with_covariance.pose.orientation.w = 7.0;
tracked_obj.kinematics.twist_with_covariance.twist.linear.x = 1.0;
tracked_obj.kinematics.twist_with_covariance.twist.linear.y = 2.0;
tracked_obj.kinematics.twist_with_covariance.twist.linear.z = 3.0;
tracked_obj.kinematics.twist_with_covariance.twist.angular.x = 4.0;
tracked_obj.kinematics.twist_with_covariance.twist.angular.y = 5.0;
tracked_obj.kinematics.twist_with_covariance.twist.angular.z = 6.0;
tracked_obj.kinematics.orientation_availability = 1;
// shape
tracked_obj.shape.type = 1;
tracked_obj.shape.dimensions.x = 1.0;
tracked_obj.shape.dimensions.y = 2.0;
tracked_obj.shape.dimensions.z = 3.0;
tracked_obj.shape.footprint.points.push_back(createPoint32(1.0, 2.0, 3.0));
tracked_obj.shape.footprint.points.push_back(createPoint32(2.0, 4.0, 6.0));
const auto detected_obj = toDetectedObject(tracked_obj);
// existence probability
EXPECT_DOUBLE_EQ(tracked_obj.existence_probability, detected_obj.existence_probability);
// classification
EXPECT_EQ(tracked_obj.classification.size(), detected_obj.classification.size());
EXPECT_EQ(tracked_obj.classification.at(0).label, detected_obj.classification.at(0).label);
EXPECT_DOUBLE_EQ(
tracked_obj.classification.at(0).probability, detected_obj.classification.at(0).probability);
EXPECT_EQ(tracked_obj.classification.at(1).label, detected_obj.classification.at(1).label);
EXPECT_DOUBLE_EQ(
tracked_obj.classification.at(1).probability, detected_obj.classification.at(1).probability);
EXPECT_EQ(tracked_obj.classification.at(2).label, detected_obj.classification.at(2).label);
EXPECT_DOUBLE_EQ(
tracked_obj.classification.at(2).probability, detected_obj.classification.at(2).probability);
// kinematics
EXPECT_DOUBLE_EQ(
tracked_obj.kinematics.pose_with_covariance.pose.position.x,
detected_obj.kinematics.pose_with_covariance.pose.position.x);
EXPECT_DOUBLE_EQ(
tracked_obj.kinematics.pose_with_covariance.pose.position.y,
detected_obj.kinematics.pose_with_covariance.pose.position.y);
EXPECT_DOUBLE_EQ(
tracked_obj.kinematics.pose_with_covariance.pose.position.z,
detected_obj.kinematics.pose_with_covariance.pose.position.z);
EXPECT_DOUBLE_EQ(
tracked_obj.kinematics.pose_with_covariance.pose.orientation.x,
detected_obj.kinematics.pose_with_covariance.pose.orientation.x);
EXPECT_DOUBLE_EQ(
tracked_obj.kinematics.pose_with_covariance.pose.orientation.y,
detected_obj.kinematics.pose_with_covariance.pose.orientation.y);
EXPECT_DOUBLE_EQ(
tracked_obj.kinematics.pose_with_covariance.pose.orientation.z,
detected_obj.kinematics.pose_with_covariance.pose.orientation.z);
EXPECT_DOUBLE_EQ(
tracked_obj.kinematics.pose_with_covariance.pose.orientation.w,
detected_obj.kinematics.pose_with_covariance.pose.orientation.w);
EXPECT_DOUBLE_EQ(
tracked_obj.kinematics.twist_with_covariance.twist.linear.x,
detected_obj.kinematics.twist_with_covariance.twist.linear.x);
EXPECT_DOUBLE_EQ(
tracked_obj.kinematics.twist_with_covariance.twist.linear.y,
detected_obj.kinematics.twist_with_covariance.twist.linear.y);
EXPECT_DOUBLE_EQ(
tracked_obj.kinematics.twist_with_covariance.twist.linear.z,
detected_obj.kinematics.twist_with_covariance.twist.linear.z);
EXPECT_DOUBLE_EQ(
tracked_obj.kinematics.twist_with_covariance.twist.angular.x,
detected_obj.kinematics.twist_with_covariance.twist.angular.x);
EXPECT_DOUBLE_EQ(
tracked_obj.kinematics.twist_with_covariance.twist.angular.y,
detected_obj.kinematics.twist_with_covariance.twist.angular.y);
EXPECT_DOUBLE_EQ(
tracked_obj.kinematics.twist_with_covariance.twist.angular.z,
detected_obj.kinematics.twist_with_covariance.twist.angular.z);
EXPECT_EQ(
tracked_obj.kinematics.orientation_availability,
detected_obj.kinematics.orientation_availability);
EXPECT_EQ(detected_obj.kinematics.has_position_covariance, true);
EXPECT_EQ(detected_obj.kinematics.has_twist, true);
EXPECT_EQ(detected_obj.kinematics.has_twist_covariance, true);
// shape
EXPECT_EQ(tracked_obj.shape.type, detected_obj.shape.type);
EXPECT_DOUBLE_EQ(tracked_obj.shape.dimensions.x, detected_obj.shape.dimensions.x);
EXPECT_DOUBLE_EQ(tracked_obj.shape.dimensions.y, detected_obj.shape.dimensions.y);
EXPECT_DOUBLE_EQ(tracked_obj.shape.dimensions.z, detected_obj.shape.dimensions.z);
EXPECT_EQ(tracked_obj.shape.footprint.points.size(), detected_obj.shape.footprint.points.size());
EXPECT_DOUBLE_EQ(
tracked_obj.shape.footprint.points.at(0).x, detected_obj.shape.footprint.points.at(0).x);
EXPECT_DOUBLE_EQ(
tracked_obj.shape.footprint.points.at(0).y, detected_obj.shape.footprint.points.at(0).y);
EXPECT_DOUBLE_EQ(
tracked_obj.shape.footprint.points.at(0).z, detected_obj.shape.footprint.points.at(0).z);
EXPECT_DOUBLE_EQ(
tracked_obj.shape.footprint.points.at(1).x, detected_obj.shape.footprint.points.at(1).x);
EXPECT_DOUBLE_EQ(
tracked_obj.shape.footprint.points.at(1).y, detected_obj.shape.footprint.points.at(1).y);
EXPECT_DOUBLE_EQ(
tracked_obj.shape.footprint.points.at(1).z, detected_obj.shape.footprint.points.at(1).z);
}
// NOTE: covariance is not checked
TEST(conversion, test_toTrackedObject)
{
using autoware::object_recognition_utils::toTrackedObject;
using autoware_perception_msgs::msg::ObjectClassification;
autoware_perception_msgs::msg::DetectedObject detected_obj;
// existence probability
detected_obj.existence_probability = 1.0;
// classification
detected_obj.classification.push_back(createObjectClassification(ObjectClassification::CAR, 0.8));
detected_obj.classification.push_back(
createObjectClassification(ObjectClassification::TRUCK, 0.8));
detected_obj.classification.push_back(createObjectClassification(ObjectClassification::BUS, 0.7));
// kinematics
detected_obj.kinematics.pose_with_covariance.pose.position.x = 1.0;
detected_obj.kinematics.pose_with_covariance.pose.position.y = 2.0;
detected_obj.kinematics.pose_with_covariance.pose.position.z = 3.0;
detected_obj.kinematics.pose_with_covariance.pose.orientation.x = 4.0;
detected_obj.kinematics.pose_with_covariance.pose.orientation.y = 5.0;
detected_obj.kinematics.pose_with_covariance.pose.orientation.z = 6.0;
detected_obj.kinematics.pose_with_covariance.pose.orientation.w = 7.0;
detected_obj.kinematics.twist_with_covariance.twist.linear.x = 1.0;
detected_obj.kinematics.twist_with_covariance.twist.linear.y = 2.0;
detected_obj.kinematics.twist_with_covariance.twist.linear.z = 3.0;
detected_obj.kinematics.twist_with_covariance.twist.angular.x = 4.0;
detected_obj.kinematics.twist_with_covariance.twist.angular.y = 5.0;
detected_obj.kinematics.twist_with_covariance.twist.angular.z = 6.0;
detected_obj.kinematics.orientation_availability = 1;
// shape
detected_obj.shape.type = 1;
detected_obj.shape.dimensions.x = 1.0;
detected_obj.shape.dimensions.y = 2.0;
detected_obj.shape.dimensions.z = 3.0;
detected_obj.shape.footprint.points.push_back(createPoint32(1.0, 2.0, 3.0));
detected_obj.shape.footprint.points.push_back(createPoint32(2.0, 4.0, 6.0));
const auto tracked_obj = toTrackedObject(detected_obj);
// existence probability
EXPECT_DOUBLE_EQ(detected_obj.existence_probability, tracked_obj.existence_probability);
// classification
EXPECT_EQ(detected_obj.classification.size(), tracked_obj.classification.size());
EXPECT_EQ(detected_obj.classification.at(0).label, tracked_obj.classification.at(0).label);
EXPECT_DOUBLE_EQ(
detected_obj.classification.at(0).probability, tracked_obj.classification.at(0).probability);
EXPECT_EQ(detected_obj.classification.at(1).label, tracked_obj.classification.at(1).label);
EXPECT_DOUBLE_EQ(
detected_obj.classification.at(1).probability, tracked_obj.classification.at(1).probability);
EXPECT_EQ(detected_obj.classification.at(2).label, tracked_obj.classification.at(2).label);
EXPECT_DOUBLE_EQ(
detected_obj.classification.at(2).probability, tracked_obj.classification.at(2).probability);
// kinematics
EXPECT_DOUBLE_EQ(
detected_obj.kinematics.pose_with_covariance.pose.position.x,
tracked_obj.kinematics.pose_with_covariance.pose.position.x);
EXPECT_DOUBLE_EQ(
detected_obj.kinematics.pose_with_covariance.pose.position.y,
tracked_obj.kinematics.pose_with_covariance.pose.position.y);
EXPECT_DOUBLE_EQ(
detected_obj.kinematics.pose_with_covariance.pose.position.z,
tracked_obj.kinematics.pose_with_covariance.pose.position.z);
EXPECT_DOUBLE_EQ(
detected_obj.kinematics.pose_with_covariance.pose.orientation.x,
tracked_obj.kinematics.pose_with_covariance.pose.orientation.x);
EXPECT_DOUBLE_EQ(
detected_obj.kinematics.pose_with_covariance.pose.orientation.y,
tracked_obj.kinematics.pose_with_covariance.pose.orientation.y);
EXPECT_DOUBLE_EQ(
detected_obj.kinematics.pose_with_covariance.pose.orientation.z,
tracked_obj.kinematics.pose_with_covariance.pose.orientation.z);
EXPECT_DOUBLE_EQ(
detected_obj.kinematics.pose_with_covariance.pose.orientation.w,
tracked_obj.kinematics.pose_with_covariance.pose.orientation.w);
EXPECT_DOUBLE_EQ(
detected_obj.kinematics.twist_with_covariance.twist.linear.x,
tracked_obj.kinematics.twist_with_covariance.twist.linear.x);
EXPECT_DOUBLE_EQ(
detected_obj.kinematics.twist_with_covariance.twist.linear.y,
tracked_obj.kinematics.twist_with_covariance.twist.linear.y);
EXPECT_DOUBLE_EQ(
detected_obj.kinematics.twist_with_covariance.twist.linear.z,
tracked_obj.kinematics.twist_with_covariance.twist.linear.z);
EXPECT_DOUBLE_EQ(
detected_obj.kinematics.twist_with_covariance.twist.angular.x,
tracked_obj.kinematics.twist_with_covariance.twist.angular.x);
EXPECT_DOUBLE_EQ(
detected_obj.kinematics.twist_with_covariance.twist.angular.y,
tracked_obj.kinematics.twist_with_covariance.twist.angular.y);
EXPECT_DOUBLE_EQ(
detected_obj.kinematics.twist_with_covariance.twist.angular.z,
tracked_obj.kinematics.twist_with_covariance.twist.angular.z);
EXPECT_EQ(
detected_obj.kinematics.orientation_availability,
tracked_obj.kinematics.orientation_availability);
// shape
EXPECT_EQ(detected_obj.shape.type, tracked_obj.shape.type);
EXPECT_DOUBLE_EQ(detected_obj.shape.dimensions.x, tracked_obj.shape.dimensions.x);
EXPECT_DOUBLE_EQ(detected_obj.shape.dimensions.y, tracked_obj.shape.dimensions.y);
EXPECT_DOUBLE_EQ(detected_obj.shape.dimensions.z, tracked_obj.shape.dimensions.z);
EXPECT_EQ(detected_obj.shape.footprint.points.size(), tracked_obj.shape.footprint.points.size());
EXPECT_DOUBLE_EQ(
detected_obj.shape.footprint.points.at(0).x, tracked_obj.shape.footprint.points.at(0).x);
EXPECT_DOUBLE_EQ(
detected_obj.shape.footprint.points.at(0).y, tracked_obj.shape.footprint.points.at(0).y);
EXPECT_DOUBLE_EQ(
detected_obj.shape.footprint.points.at(0).z, tracked_obj.shape.footprint.points.at(0).z);
EXPECT_DOUBLE_EQ(
detected_obj.shape.footprint.points.at(1).x, tracked_obj.shape.footprint.points.at(1).x);
EXPECT_DOUBLE_EQ(
detected_obj.shape.footprint.points.at(1).y, tracked_obj.shape.footprint.points.at(1).y);
EXPECT_DOUBLE_EQ(
detected_obj.shape.footprint.points.at(1).z, tracked_obj.shape.footprint.points.at(1).z);
}