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_polygon_no_collision():
# randomly generated values
a = BBox3D(0.9, 0.5, 0.5, 1, 1, 1)
b = BBox3D(0.1, 0.1, 0.1, 0.1, 1, 1)
p1, p2 = a.p[0:4, 0:2], b.p[0:4, 0:2]
assert polygon_collision(p1, p2) == False
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_non_overlapping_boxes(self):
a = BBox3D(x=-2.553668269106177, y=-63.56305079381365, z=1.988316894113887,
length=4.7, width=1.8420955618567376, height=1.4,
q=(-0.7123296970493456, 0.0, 0.0, 0.7018449990571904))
b = BBox3D(x=-60.00052106600015, y=-4.111285291215302, z=0.7497459084120979,
length=4.7, width=1.8, height=1.819601518010064,
q=(0.999845654958524, 0.0, 0.0, 0.017568900379933073))
def test_polygon_intersection():
a = BBox3D(0.5, 0.5, 0.5, 1, 1, 1)
b = BBox3D(1, 1, 1, 1, 1, 1)
i1 = clip(a.p[0:4, 0:2], b.p[0:4, 0:2])
i1 = np.array(i1)
i2 = polygon_intersection(a.p[0:4, 0:2], b.p[0:4, 0:2])
assert np.array_equal(i1, i2)
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 dddIOU(d, g):
# d = ddd_to_dd_box(d)
ious = np.zeros((len(d), len(g)))
for di in range(len(d)):
box_d = BBox3D(d[di][0], d[di][1], d[di][2], d[di][3], d[di][4],
d[di][5])
for gi in range(len(g)):
box_g = BBox3D(g[gi][0], g[gi][1], g[gi][2], g[gi][3], g[gi][4],
g[gi][5])
ious[di, gi] = iou_3d(box_d, box_g)
return ious
def test_is_separating_axis():
# randomly generated values
a = BBox3D(0.9, 0.5, 0.5, 1, 1, 1)
b = BBox3D(0.1, 0.1, 0.1, 0.1, 1, 1)
p1, p2 = a.p[0:4, 0:2], b.p[0:4, 0:2]
edges = edges_of(p1)
edges += edges_of(p2)
# positive case
separates, pv = is_separating_axis(orthogonal(edges[0]), p1, p2)
assert separates == False and pv is not None
separates, pv = is_separating_axis(orthogonal(edges[1]), p1, p2)
assert separates == True and pv is None
def setup_class(cls):
# sample cuboid
cuboid = {
'center': {
'x': -49.19743041908411,
'y': 12.38666074615689,
'z': 0.782056864653507
},
'dimensions': {
'length': 5.340892485711914,
'width': 2.457703972075464,
'height': 1.9422248281533563
},
'rotation': {
'w': 0.9997472337219893,
'x': 0.0,
'y': 0.0,
'z': 0.022482630300529462
}
}
center = cuboid['center']
dim = cuboid['dimensions']
rotation = cuboid['rotation']
cls.box = BBox3D(center['x'],
center['y'],
center['z'],
length=dim['length'],
width=dim['width'],
height=dim['height'],
rw=rotation['w'],
rx=rotation['x'],
ry=rotation['y'],
rz=rotation['z'])
cls.cuboid = cuboid
def test_quaternion(self):
q = np.array([0.9997472337219893, 0.0, 0.0, 0.022482630300529462])
assert np.array_equal(self.box.q, q)
# alternative attribute for the quaternion
assert np.array_equal(self.box.quaternion, q)
box = BBox3D(self.box.cx, self.box.cy, self.box.cz, q=self.box.q)
assert np.array_equal(self.box.q, box.q)
def create_3D_box(env_object, objdim): #DOPE
objpos = env_object.get_position()
objorient = env_object.get_orientation()
#objdim = env_object.get_cuboid_dimensions()
box = BBox3D(objpos[0], objpos[1], objpos[2], objdim[0], objdim[1],
objdim[2], objorient[3], objorient[0], objorient[1],
objorient[2])
return box.p, box.center
def test_init_non_center(self):
cx, cy, cz = self.box.cx, self.box.cy, self.box.cz
box = BBox3D(cx - self.box.length / 2,
cy - self.box.width / 2,
cz - self.box.height / 2,
self.box.length,
self.box.width,
self.box.height,
is_center=False)
assert np.array_equal(box.center, self.box.center)
def test_euler_angles(self):
box = BBox3D(3.163,
z=2.468,
y=34.677,
height=1.529,
width=1.587,
length=3.948,
euler_angles=[0, 0, -1.59])
q = np.array([0.7002847660410397, -0.0, -0.0, -0.7138636049350369])
assert np.array_equal(box.q, q)
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
def test_center_init(self):
box = BBox3D(*[self.box.cx, self.box.cy, self.box.cz])
assert np.array_equal(box.center, self.box.center)
def test_init_center(self):
box = BBox3D(*[self.box.cx, self.box.cy, self.box.cz], is_center=True)
assert np.array_equal(box.center, self.box.center)
