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refactor(perception_utils): refactor object_classification #2042

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Oct 18, 2022
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refactor(perception_utils): refactor object_classification #2042

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refactor(perception_utils): refactor object_classification
scepter914 Oct 7, 2022
3e1ec1b
Merge branch 'main' into refactor/perception_util_classification
scepter914 Oct 11, 2022
3e8c9f9
fix bug
scepter914 Oct 11, 2022
ce6cb19
fix unittest
scepter914 Oct 11, 2022
6df519d
refactor
scepter914 Oct 11, 2022
d300e02
fix unit test
scepter914 Oct 11, 2022
f340cff
remove redundant else
scepter914 Oct 11, 2022
75dfdb6
Merge branch 'main' into refactor/perception_util_classification
scepter914 Oct 11, 2022
abcf688
Merge branch 'main' into refactor/perception_util_classification
scepter914 Oct 15, 2022
48a6966
refactor variable name
scepter914 Oct 17, 2022
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80 changes: 41 additions & 39 deletions common/perception_utils/include/perception_utils/object_classification.hpp
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Expand Up @@ -23,72 +23,74 @@ namespace perception_utils
{
using autoware_auto_perception_msgs::msg::ObjectClassification;

inline std::uint8_t getHighestProbLabel(
inline ObjectClassification getHighestProbClassification(
const std::vector<ObjectClassification> & object_classifications)
{
std::uint8_t label = ObjectClassification::UNKNOWN;
float highest_prob = 0.0;
// TODO(Satoshi Tanaka): It might be simple if you use STL or range-v3.
for (const auto & object_classification : object_classifications) {
if (highest_prob < object_classification.probability) {
highest_prob = object_classification.probability;
label = object_classification.label;
}
if (object_classifications.empty()) {
return ObjectClassification{};
}
return label;
return *std::max_element(
std::begin(object_classifications), std::end(object_classifications),
[](const auto & a, const auto & b) { return a.probability < b.probability; });
}

inline std::uint8_t getHighestProbLabel(
const std::vector<ObjectClassification> & object_classifications)
{
auto classification = getHighestProbClassification(object_classifications);
return classification.label;
}

inline bool isVehicle(const uint8_t object_classification)
inline bool isVehicle(const uint8_t label)
{
return object_classification == ObjectClassification::BICYCLE ||
object_classification == ObjectClassification::BUS ||
object_classification == ObjectClassification::CAR ||
object_classification == ObjectClassification::MOTORCYCLE ||
object_classification == ObjectClassification::TRAILER ||
object_classification == ObjectClassification::TRUCK;
return label == ObjectClassification::BICYCLE || label == ObjectClassification::BUS ||
label == ObjectClassification::CAR || label == ObjectClassification::MOTORCYCLE ||
label == ObjectClassification::TRAILER || label == ObjectClassification::TRUCK;
}

inline bool isVehicle(const ObjectClassification & object_classification)
{
return isVehicle(object_classification.label);
}

inline bool isVehicle(const std::vector<ObjectClassification> & object_classifications)
{
auto highest_prob_classification = getHighestProbLabel(object_classifications);
return highest_prob_classification == ObjectClassification::BICYCLE ||
highest_prob_classification == ObjectClassification::BUS ||
highest_prob_classification == ObjectClassification::CAR ||
highest_prob_classification == ObjectClassification::MOTORCYCLE ||
highest_prob_classification == ObjectClassification::TRAILER ||
highest_prob_classification == ObjectClassification::TRUCK;
return isVehicle(highest_prob_classification);
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}

inline bool isCarLikeVehicle(const uint8_t label)
{
return label == ObjectClassification::BUS || label == ObjectClassification::CAR ||
label == ObjectClassification::TRAILER || label == ObjectClassification::TRUCK;
}

inline bool isCarLikeVehicle(const uint8_t object_classification)
inline bool isCarLikeVehicle(const ObjectClassification & object_classification)
{
return object_classification == ObjectClassification::BUS ||
object_classification == ObjectClassification::CAR ||
object_classification == ObjectClassification::TRAILER ||
object_classification == ObjectClassification::TRUCK;
return isCarLikeVehicle(object_classification.label);
}

inline bool isCarLikeVehicle(const std::vector<ObjectClassification> & object_classifications)
{
auto highest_prob_classification = getHighestProbLabel(object_classifications);
return highest_prob_classification == ObjectClassification::BUS ||
highest_prob_classification == ObjectClassification::CAR ||
highest_prob_classification == ObjectClassification::TRAILER ||
highest_prob_classification == ObjectClassification::TRUCK;
return isCarLikeVehicle(highest_prob_classification);
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}

inline bool isLargeVehicle(const uint8_t label)
{
return label == ObjectClassification::BUS || label == ObjectClassification::TRAILER ||
label == ObjectClassification::TRUCK;
}

inline bool isLargeVehicle(const uint8_t object_classification)
inline bool isLargeVehicle(const ObjectClassification & object_classification)
{
return object_classification == ObjectClassification::BUS ||
object_classification == ObjectClassification::TRAILER ||
object_classification == ObjectClassification::TRUCK;
return isLargeVehicle(object_classification.label);
}

inline bool isLargeVehicle(const std::vector<ObjectClassification> & object_classifications)
{
auto highest_prob_classification = getHighestProbLabel(object_classifications);
return highest_prob_classification == ObjectClassification::BUS ||
highest_prob_classification == ObjectClassification::TRAILER ||
highest_prob_classification == ObjectClassification::TRUCK;
return isLargeVehicle(highest_prob_classification);
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}
} // namespace perception_utils

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61 changes: 49 additions & 12 deletions common/perception_utils/test/src/test_object_classification.cpp
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Expand Up @@ -16,6 +16,8 @@

#include <gtest/gtest.h>

constexpr double epsilon = 1e-06;

namespace
{
autoware_auto_perception_msgs::msg::ObjectClassification createObjectClassification(
Expand All @@ -36,28 +38,63 @@ TEST(object_classification, test_getHighestProbLabel)
using perception_utils::getHighestProbLabel;

{ // empty
std::vector<autoware_auto_perception_msgs::msg::ObjectClassification> classification;
std::uint8_t label = getHighestProbLabel(classification);
std::vector<autoware_auto_perception_msgs::msg::ObjectClassification> classifications;
std::uint8_t label = getHighestProbLabel(classifications);
EXPECT_EQ(label, ObjectClassification::UNKNOWN);
}

{ // normal case
std::vector<autoware_auto_perception_msgs::msg::ObjectClassification> classification;
classification.push_back(createObjectClassification(ObjectClassification::CAR, 0.5));
classification.push_back(createObjectClassification(ObjectClassification::TRUCK, 0.8));
classification.push_back(createObjectClassification(ObjectClassification::BUS, 0.7));
std::vector<autoware_auto_perception_msgs::msg::ObjectClassification> classifications;
classifications.push_back(createObjectClassification(ObjectClassification::CAR, 0.5));
classifications.push_back(createObjectClassification(ObjectClassification::TRUCK, 0.8));
classifications.push_back(createObjectClassification(ObjectClassification::BUS, 0.7));

std::uint8_t label = getHighestProbLabel(classification);
std::uint8_t label = getHighestProbLabel(classifications);
EXPECT_EQ(label, ObjectClassification::TRUCK);
}

{ // labels with the same probability
std::vector<autoware_auto_perception_msgs::msg::ObjectClassification> classification;
classification.push_back(createObjectClassification(ObjectClassification::CAR, 0.8));
classification.push_back(createObjectClassification(ObjectClassification::TRUCK, 0.8));
classification.push_back(createObjectClassification(ObjectClassification::BUS, 0.7));
std::vector<autoware_auto_perception_msgs::msg::ObjectClassification> classifications;
classifications.push_back(createObjectClassification(ObjectClassification::CAR, 0.8));
classifications.push_back(createObjectClassification(ObjectClassification::TRUCK, 0.8));
classifications.push_back(createObjectClassification(ObjectClassification::BUS, 0.7));

std::uint8_t label = getHighestProbLabel(classification);
std::uint8_t label = getHighestProbLabel(classifications);
EXPECT_EQ(label, ObjectClassification::CAR);
}
}

TEST(object_classification, test_getHighestProbClassification)
{
using autoware_auto_perception_msgs::msg::ObjectClassification;
using perception_utils::getHighestProbClassification;

{ // empty
std::vector<autoware_auto_perception_msgs::msg::ObjectClassification> classifications;
auto classification = getHighestProbClassification(classifications);
EXPECT_EQ(classification.label, ObjectClassification::UNKNOWN);
EXPECT_DOUBLE_EQ(classification.probability, 0.0);
}

{ // normal case
std::vector<autoware_auto_perception_msgs::msg::ObjectClassification> classifications;
classifications.push_back(createObjectClassification(ObjectClassification::CAR, 0.5));
classifications.push_back(createObjectClassification(ObjectClassification::TRUCK, 0.8));
classifications.push_back(createObjectClassification(ObjectClassification::BUS, 0.7));
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auto classification = getHighestProbClassification(classifications);
EXPECT_EQ(classification.label, ObjectClassification::TRUCK);
EXPECT_NEAR(classification.probability, 0.8, epsilon);
}

{ // labels with the same probability
std::vector<autoware_auto_perception_msgs::msg::ObjectClassification> classifications;
classifications.push_back(createObjectClassification(ObjectClassification::CAR, 0.8));
classifications.push_back(createObjectClassification(ObjectClassification::TRUCK, 0.8));
classifications.push_back(createObjectClassification(ObjectClassification::BUS, 0.7));

auto classification = getHighestProbClassification(classifications);
EXPECT_EQ(classification.label, ObjectClassification::CAR);
EXPECT_NEAR(classification.probability, 0.8, epsilon);
}
}