test: add simple unit test for metrics (#137)

Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>

Author: ktro2828

t4_devkit/evaluation/__init__.py

@@ -3,3 +3,4 @@
 from .result import *  # noqa
 from .matching import *  # noqa
 from .result import *  # noqa
+from .metric import *  # noqa

t4_devkit/evaluation/metric/ap.py

@@ -93,8 +93,8 @@ def _update_buffer(self, frames: list[FrameBoxMatch]) -> ApBuffer:
 
 
 class ApH(Ap):
-    def __init__(self, threshold: float) -> None:
-        super().__init__(threshold=threshold)
+    def __init__(self, scorer: MatchingScorerLike, threshold: float) -> None:
+        super().__init__(scorer=scorer, threshold=threshold)
 
     def _compute_tp(self, box_match: BoxMatch) -> float:
         if not box_match.is_matched():

t4_devkit/evaluation/metric/clear.py

@@ -88,6 +88,7 @@ def _update_buffer(self, frames: list[FrameBoxMatch]) -> ClearBuffer:
                         buffer.num_id_switch += 1
                 else:
                     buffer.num_fp += 1
+        return buffer
 
     def _is_id_switched(self, current_match: BoxMatch, previous_match: BoxMatch) -> bool:
         if (not current_match.is_matched()) and (not previous_match.is_matched()):

tests/evaluation/metric/test_ap.py

@@ -0,0 +1,49 @@
+from __future__ import annotations
+
+import math
+
+import pytest
+
+from t4_devkit.dataclass import HomogeneousMatrix
+from t4_devkit.evaluation import (
+    Ap,
+    ApH,
+    CenterDistance,
+    FrameBoxMatch,
+    MatchingParams,
+    build_matcher,
+)
+
+
+@pytest.fixture(scope="module")
+def dummy_frame3d(dummy_evaluation_box3ds) -> FrameBoxMatch:
+    estimations, ground_truths = dummy_evaluation_box3ds
+
+    matcher = build_matcher(params=MatchingParams())
+
+    matches = matcher(estimations, ground_truths)
+
+    ego2map = HomogeneousMatrix(
+        position=(1, 0, 0),
+        rotation=(1, 0, 0, 0),
+        src="base_link",
+        dst="map",
+    )
+
+    return FrameBoxMatch(unix_time=100, frame_index=0, matches=matches, ego2map=ego2map)
+
+
+def test_ap(dummy_frame3d) -> None:
+    ap = Ap(scorer=CenterDistance(), threshold=1.0)
+
+    score = ap(frames=[dummy_frame3d])
+
+    assert math.isclose(score, 0.394, rel_tol=1e-3)
+
+
+def test_aph(dummy_frame3d) -> None:
+    aph = ApH(scorer=CenterDistance(), threshold=1.0)
+
+    score = aph(frames=[dummy_frame3d])
+
+    assert math.isclose(score, 0.394, rel_tol=1e-3)

tests/evaluation/metric/test_clear.py

@@ -0,0 +1,49 @@
+from __future__ import annotations
+
+import math
+
+import pytest
+
+from t4_devkit.dataclass import HomogeneousMatrix
+from t4_devkit.evaluation import (
+    CenterDistance,
+    FrameBoxMatch,
+    MatchingParams,
+    Mota,
+    Motp,
+    build_matcher,
+)
+
+
+@pytest.fixture(scope="module")
+def dummy_frame3d(dummy_evaluation_box3ds) -> FrameBoxMatch:
+    estimations, ground_truths = dummy_evaluation_box3ds
+
+    matcher = build_matcher(params=MatchingParams())
+
+    matches = matcher(estimations, ground_truths)
+
+    ego2map = HomogeneousMatrix(
+        position=(1, 0, 0),
+        rotation=(1, 0, 0, 0),
+        src="base_link",
+        dst="map",
+    )
+
+    return FrameBoxMatch(unix_time=100, frame_index=0, matches=matches, ego2map=ego2map)
+
+
+def test_ap(dummy_frame3d) -> None:
+    mota = Mota(scorer=CenterDistance(), threshold=1.0)
+
+    score = mota(frames=[dummy_frame3d])
+
+    assert math.isclose(score, 0.0)
+
+
+def test_aph(dummy_frame3d) -> None:
+    motp = Motp(scorer=CenterDistance(), threshold=1.0)
+
+    score = motp(frames=[dummy_frame3d])
+
+    assert math.isclose(score, 0.0)