def test_jaccard_index_3d_euler_angles():
a = BBox3D(3.163, z=2.468, y=34.677, height=1.529, width=1.587, length=3.948,
euler_angles=[0, 0, 1.59])
b = BBox3D(3.18, z=2.27, y=34.38, height=1.41, width=1.58, length=4.36,
euler_angles=[0, 0, 1.58])
assert jaccard_index_3d(a, b) == 0.71636
def test_jaccard_index_3d():
a = BBox3D(x=3.163, z=2.468, y=34.677, height=1.529, width=1.587, length=3.948,
rw=0.7002847660410397, rx=-0, ry=-0, rz=-0.7138636049350369)
b = BBox3D(x=3.18, z=2.27, y=34.38, height=1.41, width=1.58, length=4.36,
rx=-0, ry=-0, rz=-0.7103532724176078, rw=0.7038453156522361)
assert jaccard_index_3d(a, b) == 0.71232
def test_jaccard_index_3d_rotation_height():
a = BBox3D(3.163, z=2.468, y=34.677, height=1.529, width=1.587, length=3.948,
rw=0.7002847660410397, rx=-0, ry=-0, rz=-0.7138636049350369)
b = BBox3D(3.163, z=1.468, y=34.677, height=1.529, width=1.587, length=3.948,
rw=0.8253356149096783, rx=-0, ry=-0, rz=-0.5646424733950354)
assert jaccard_index_3d(a, b) == 0.15428
def test_jaccard_index_3d_rotation_only():
"""
Since we take the data from KITTI, we need to swap the Y and Z axes.
"""
a = BBox3D(3.163, z=2.468, y=34.677, height=1.529, width=1.587, length=3.948,
euler_angles=[0, 0, -1.59])
b = BBox3D(3.163, z=2.468, y=34.677, height=1.529, width=1.587, length=3.948,
euler_angles=[0, 0, -1.2])
assert jaccard_index_3d(a, b) == 0.62952
def test_jaccard_index_3d_identity():
bb = BBox3D(3.163,
z=2.468,
y=34.677,
height=1.529,
width=1.587,
length=3.948,
rw=0.7002847660410397,
rx=-0,
ry=-0,
rz=-0.7138636049350369)
assert jaccard_index_3d(bb, bb) == 1
def test_invalid_jaccard_index_3d():
# H=0,W=0,L=0, so the IoU should be nan
bb = BBox3D(3.163,
z=2.468,
y=34.677,
height=0,
width=0,
length=0,
rw=0.7002847660410397,
rx=-0,
ry=-0,
rz=-0.7138636049350369)
assert jaccard_index_3d(bb, bb) == 0
def test_jaccard_index_3d_polygon_collision():
# these two boxes should not overlap
a = BBox3D(x=3.163,
z=2.468,
y=34.677,
height=1.529,
width=1.587,
length=3.948,
rw=0.7002847660410397,
rx=-0,
ry=-0,
rz=-0.7138636049350369)
b = BBox3D(x=30.18,
z=20.27,
y=90.38,
height=1.41,
width=1.58,
length=4.36,
rx=-0,
ry=-0,
rz=-0.7103532724176078,
rw=0.7038453156522361)
assert jaccard_index_3d(a, b) == 0