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test_matching.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/matching.hpp"
#include "autoware/universe_utils/geometry/geometry.hpp"
#include <autoware_perception_msgs/msg/detected_object.hpp>
#include <gtest/gtest.h>
using autoware::universe_utils::Point2d;
using autoware::universe_utils::Point3d;
constexpr double epsilon = 1e-06;
namespace
{
geometry_msgs::msg::Pose createPose(const double x, const double y, const double yaw)
{
geometry_msgs::msg::Pose p;
p.position = geometry_msgs::build<geometry_msgs::msg::Point>().x(x).y(y).z(0.0);
p.orientation = autoware::universe_utils::createQuaternionFromYaw(yaw);
return p;
}
} // namespace
TEST(matching, test_get2dIoU)
{
using autoware::object_recognition_utils::get2dIoU;
using autoware_perception_msgs::msg::DetectedObject;
const double quart_circle = 0.16237976320958225;
{ // non overlapped
DetectedObject source_obj;
source_obj.kinematics.pose_with_covariance.pose = createPose(1.5, 1.5, M_PI);
source_obj.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX;
source_obj.shape.dimensions.x = 1.0;
source_obj.shape.dimensions.y = 1.0;
DetectedObject target_obj;
target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2);
target_obj.shape.type = autoware_perception_msgs::msg::Shape::CYLINDER;
target_obj.shape.dimensions.x = 1.0;
const double iou = get2dIoU(source_obj, target_obj);
EXPECT_DOUBLE_EQ(iou, 0.0);
}
{ // partially overlapped
DetectedObject source_obj;
source_obj.kinematics.pose_with_covariance.pose = createPose(0.5, 0.5, M_PI);
source_obj.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX;
source_obj.shape.dimensions.x = 1.0;
source_obj.shape.dimensions.y = 1.0;
DetectedObject target_obj;
target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2);
target_obj.shape.type = autoware_perception_msgs::msg::Shape::CYLINDER;
target_obj.shape.dimensions.x = 1.0;
const double iou = get2dIoU(source_obj, target_obj);
EXPECT_NEAR(iou, quart_circle / (1.0 + quart_circle * 3), epsilon);
}
{ // fully overlapped
DetectedObject source_obj;
source_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI);
source_obj.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX;
source_obj.shape.dimensions.x = 1.0;
source_obj.shape.dimensions.y = 1.0;
DetectedObject target_obj;
target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2);
target_obj.shape.type = autoware_perception_msgs::msg::Shape::CYLINDER;
target_obj.shape.dimensions.x = 1.0;
const double iou = get2dIoU(source_obj, target_obj);
EXPECT_DOUBLE_EQ(iou, quart_circle * 4);
}
}
TEST(object_recognition_utils, test_get2dGeneralizedIoU)
{
using autoware::object_recognition_utils::get2dGeneralizedIoU;
// TODO(Shin-kyoto):
// get2dGeneralizedIoU uses outer points of each polygon.
// But these points contain an sampling error of outer line,
// so get2dGeneralizedIoU includes an error of about 0.03.
// Therefore, in this test, epsilon is set to 0.04.
constexpr double epsilon_giou = 4 * 1e-02;
const double quart_circle = 0.16237976320958225;
{ // non overlapped
autoware_perception_msgs::msg::DetectedObject source_obj;
source_obj.kinematics.pose_with_covariance.pose = createPose(1.5, 0.0, M_PI);
source_obj.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX;
source_obj.shape.dimensions.x = 1.0;
source_obj.shape.dimensions.y = 1.0;
autoware_perception_msgs::msg::DetectedObject target_obj;
target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2);
target_obj.shape.type = autoware_perception_msgs::msg::Shape::CYLINDER;
target_obj.shape.dimensions.x = 1.0;
const double giou = get2dGeneralizedIoU(source_obj, target_obj);
EXPECT_NEAR(giou, (2 * quart_circle - 1) / (2 * quart_circle + 2), epsilon_giou); // not 0
}
{ // partially overlapped
autoware_perception_msgs::msg::DetectedObject source_obj;
source_obj.kinematics.pose_with_covariance.pose = createPose(0.5, 0.0, M_PI);
source_obj.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX;
source_obj.shape.dimensions.x = 1.0;
source_obj.shape.dimensions.y = 1.0;
autoware_perception_msgs::msg::DetectedObject target_obj;
target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2);
target_obj.shape.type = autoware_perception_msgs::msg::Shape::CYLINDER;
target_obj.shape.dimensions.x = 1.0;
const double giou = get2dGeneralizedIoU(source_obj, target_obj);
EXPECT_NEAR(giou, 2 * quart_circle / (2 * quart_circle + 1), epsilon_giou);
}
{ // fully overlapped
autoware_perception_msgs::msg::DetectedObject source_obj;
source_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI);
source_obj.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX;
source_obj.shape.dimensions.x = 1.0;
source_obj.shape.dimensions.y = 1.0;
autoware_perception_msgs::msg::DetectedObject target_obj;
target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2);
target_obj.shape.type = autoware_perception_msgs::msg::Shape::CYLINDER;
target_obj.shape.dimensions.x = 1.0;
const double giou = get2dGeneralizedIoU(source_obj, target_obj);
EXPECT_NEAR(giou, quart_circle * 4, epsilon_giou); // giou equals iou
}
}
TEST(matching, test_get2dPrecision)
{
using autoware::object_recognition_utils::get2dPrecision;
using autoware_perception_msgs::msg::DetectedObject;
const double quart_circle = 0.16237976320958225;
{ // non overlapped
DetectedObject source_obj;
source_obj.kinematics.pose_with_covariance.pose = createPose(1.5, 1.5, M_PI);
source_obj.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX;
source_obj.shape.dimensions.x = 1.0;
source_obj.shape.dimensions.y = 1.0;
DetectedObject target_obj;
target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2);
target_obj.shape.type = autoware_perception_msgs::msg::Shape::CYLINDER;
target_obj.shape.dimensions.x = 1.0;
const double precision = get2dPrecision(source_obj, target_obj);
EXPECT_DOUBLE_EQ(precision, 0.0);
// reverse source and target object
const double reversed_precision = get2dPrecision(target_obj, source_obj);
EXPECT_DOUBLE_EQ(reversed_precision, 0.0);
}
{ // partially overlapped
DetectedObject source_obj;
source_obj.kinematics.pose_with_covariance.pose = createPose(0.5, 0.5, M_PI);
source_obj.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX;
source_obj.shape.dimensions.x = 1.0;
source_obj.shape.dimensions.y = 1.0;
DetectedObject target_obj;
target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2);
target_obj.shape.type = autoware_perception_msgs::msg::Shape::CYLINDER;
target_obj.shape.dimensions.x = 1.0;
const double precision = get2dPrecision(source_obj, target_obj);
EXPECT_NEAR(precision, quart_circle, epsilon);
// reverse source and target object
const double reversed_precision = get2dPrecision(target_obj, source_obj);
EXPECT_NEAR(reversed_precision, 1 / 4.0, epsilon);
}
{ // fully overlapped
DetectedObject source_obj;
source_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI);
source_obj.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX;
source_obj.shape.dimensions.x = 1.0;
source_obj.shape.dimensions.y = 1.0;
DetectedObject target_obj;
target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2);
target_obj.shape.type = autoware_perception_msgs::msg::Shape::CYLINDER;
target_obj.shape.dimensions.x = 1.0;
const double precision = get2dPrecision(source_obj, target_obj);
EXPECT_DOUBLE_EQ(precision, quart_circle * 4);
// reverse source and target object
const double reversed_precision = get2dPrecision(target_obj, source_obj);
EXPECT_DOUBLE_EQ(reversed_precision, 1.0);
}
}
TEST(matching, test_get2dRecall)
{
using autoware::object_recognition_utils::get2dRecall;
using autoware_perception_msgs::msg::DetectedObject;
const double quart_circle = 0.16237976320958225;
{ // non overlapped
DetectedObject source_obj;
source_obj.kinematics.pose_with_covariance.pose = createPose(1.5, 1.5, M_PI);
source_obj.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX;
source_obj.shape.dimensions.x = 1.0;
source_obj.shape.dimensions.y = 1.0;
DetectedObject target_obj;
target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2);
target_obj.shape.type = autoware_perception_msgs::msg::Shape::CYLINDER;
target_obj.shape.dimensions.x = 1.0;
const double recall = get2dRecall(source_obj, target_obj);
EXPECT_DOUBLE_EQ(recall, 0.0);
// reverse source and target object
const double reversed_recall = get2dRecall(target_obj, source_obj);
EXPECT_DOUBLE_EQ(reversed_recall, 0.0);
}
{ // partially overlapped
DetectedObject source_obj;
source_obj.kinematics.pose_with_covariance.pose = createPose(0.5, 0.5, M_PI);
source_obj.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX;
source_obj.shape.dimensions.x = 1.0;
source_obj.shape.dimensions.y = 1.0;
DetectedObject target_obj;
target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2);
target_obj.shape.type = autoware_perception_msgs::msg::Shape::CYLINDER;
target_obj.shape.dimensions.x = 1.0;
const double recall = get2dRecall(source_obj, target_obj);
EXPECT_NEAR(recall, 1 / 4.0, epsilon);
// reverse source and target object
const double reversed_recall = get2dRecall(target_obj, source_obj);
EXPECT_NEAR(reversed_recall, quart_circle, epsilon);
}
{ // fully overlapped
DetectedObject source_obj;
source_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI);
source_obj.shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX;
source_obj.shape.dimensions.x = 1.0;
source_obj.shape.dimensions.y = 1.0;
DetectedObject target_obj;
target_obj.kinematics.pose_with_covariance.pose = createPose(0.0, 0.0, M_PI_2);
target_obj.shape.type = autoware_perception_msgs::msg::Shape::CYLINDER;
target_obj.shape.dimensions.x = 1.0;
const double recall = get2dRecall(source_obj, target_obj);
EXPECT_DOUBLE_EQ(recall, 1.0);
// reverse source and target object
const double reversed_recall = get2dRecall(target_obj, source_obj);
EXPECT_DOUBLE_EQ(reversed_recall, quart_circle * 4);
}
}