def test_orientation_eighth_angles() -> None:
"""Initialize a detection and a ground truth label with only orientation
parameters. Verify that calculated orientation error matches the expected
smallest angle ((2 * np.pi) / 8) between the detection and ground truth label.
"""
expected_result: float = (2 * np.pi) / 8
eigth_angle = [
np.array([0, 0, angle])
for angle in np.arange(0, 2 * np.pi, expected_result)
]
for i in range(len(eigth_angle) - 1):
dts: DataFrame = DataFrame([{
"quaternion":
quat_scipy2argo_vectorized(
R.from_rotvec(eigth_angle[i]).as_quat())
}])
gts: DataFrame = DataFrame([{
"quaternion":
quat_scipy2argo_vectorized(
R.from_rotvec(eigth_angle[i + 1]).as_quat())
}])
assert np.isclose(dist_fn(dts, gts, DistFnType.ORIENTATION),
expected_result)
assert np.isclose(dist_fn(gts, dts, DistFnType.ORIENTATION),
expected_result)
def test_scale_distance() -> None:
"""Initialize a detection and a ground truth label with only shape
parameters (only shape parameters due to alignment assumption).
Verify that calculated scale error matches the expected value.
"""
dts: DataFrame = DataFrame([{"width": 5, "height": 5, "length": 5}])
gts: DataFrame = DataFrame([{"width": 10, "height": 10, "length": 10}])
expected_result: float = 1 - 0.125
assert dist_fn(dts, gts, DistFnType.SCALE) == expected_result
def test_translation_distance() -> None:
"""Initialize a detection and a ground truth label with only translation
parameters. Verify that calculated distance matches expected distance under
the specified `DistFnType`.
"""
dts: DataFrame = DataFrame([{"translation": [0.0, 0.0, 0.0]}])
gts: DataFrame = DataFrame([{"translation": [5.0, 5.0, 5.0]}])
expected_result: float = np.sqrt(25 + 25 + 25)
assert dist_fn(dts, gts, DistFnType.TRANSLATION) == expected_result