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| """Geometric validation engine tests.""" | |
| import math | |
| from pathlib import Path | |
| import pytest | |
| from sensorflow.evaluation import synthetic | |
| from sensorflow.evaluation.records import Annotation, reset_store | |
| from sensorflow.evaluation.validation import iou_3d, validate_annotation | |
| def env(tmp_path): | |
| store = reset_store(tmp_path) | |
| ds = synthetic.generate_dataset(store, num_sequences=1, frames_per_sequence=5, seed=11) | |
| frames = sorted(store.where("frames", dataset_id=ds.dataset_id), key=lambda f: f.index) | |
| frame = next(f for f in frames if f.gt_boxes and "sensor_failure" not in f.scenario_tags) | |
| return store, ds, frame | |
| def _ann(ds, frame, bbox, cls, gt_id=None, bbox_2d="auto", conf=0.9): | |
| return Annotation( | |
| annotation_id="ann-test-1", | |
| dataset_id=ds.dataset_id, | |
| frame_id=frame.frame_id, | |
| object_id="obj", | |
| class_name=cls, | |
| confidence=conf, | |
| bbox_3d=bbox, | |
| bbox_2d=synthetic.project_bbox_2d(bbox) if bbox_2d == "auto" else bbox_2d, | |
| matched_gt_id=gt_id, | |
| ) | |
| def test_iou_3d_identity(): | |
| box = [10, 2, 0.8, 4.5, 1.9, 1.6, 0.3] | |
| assert iou_3d(box, box) == pytest.approx(1.0, abs=1e-6) | |
| def test_iou_3d_disjoint(): | |
| a = [10, 2, 0.8, 4.5, 1.9, 1.6, 0.0] | |
| b = [40, -10, 0.8, 4.5, 1.9, 1.6, 0.0] | |
| assert iou_3d(a, b) == 0.0 | |
| def test_accurate_box_passes_all_checks(env): | |
| store, ds, frame = env | |
| gt = max(frame.gt_boxes, key=lambda g: g.bbox_3d[3] * g.bbox_3d[4]) # largest object | |
| ann = _ann(ds, frame, list(gt.bbox_3d), gt.class_name, gt.gt_id) | |
| res = validate_annotation(store, ann, frame) | |
| assert res.passed, [c.model_dump() for c in res.checks if not c.passed] | |
| assert res.iou_3d == pytest.approx(1.0, abs=1e-4) | |
| assert res.position_error == pytest.approx(0.0, abs=1e-6) | |
| def test_box_in_empty_space_fails_point_support(env): | |
| store, ds, frame = env | |
| bbox = [55.0, 18.0, 0.8, 4.5, 1.9, 1.6, 0.0] # far corner, no object there | |
| ann = _ann(ds, frame, bbox, "vehicle") | |
| res = validate_annotation(store, ann, frame) | |
| failing = {c.gate for c in res.checks if c.applicable and not c.passed} | |
| assert not res.passed | |
| assert {"points_in_box", "point_density_per_m3"} & failing | |
| def test_implausible_dimensions_fail_class_prior(env): | |
| store, ds, frame = env | |
| gt = frame.gt_boxes[0] | |
| x, y, z, l, w, h, yaw = gt.bbox_3d | |
| ann = _ann(ds, frame, [x, y, z, l * 2.5, w * 2.5, h, yaw], gt.class_name, gt.gt_id) | |
| res = validate_annotation(store, ann, frame) | |
| failing = {c.gate for c in res.checks if c.applicable and not c.passed} | |
| assert "box_dimensions_vs_class_prior" in failing | |
| def test_floating_box_fails_ground_contact(env): | |
| store, ds, frame = env | |
| gt = frame.gt_boxes[0] | |
| x, y, z, l, w, h, yaw = gt.bbox_3d | |
| ann = _ann(ds, frame, [x, y, z + 2.0, l, w, h, yaw], gt.class_name, gt.gt_id) | |
| res = validate_annotation(store, ann, frame) | |
| failing = {c.gate for c in res.checks if c.applicable and not c.passed} | |
| assert "ground_contact_error_m" in failing | |
| def test_missing_camera_detection_fails_sensor_consistency(env): | |
| store, ds, frame = env | |
| gt = next((g for g in frame.gt_boxes if synthetic.project_bbox_2d(g.bbox_3d)), None) | |
| if gt is None: | |
| pytest.skip("no projectable GT in this frame") | |
| ann = _ann(ds, frame, list(gt.bbox_3d), gt.class_name, gt.gt_id, bbox_2d=None) | |
| res = validate_annotation(store, ann, frame) | |
| assert not res.sensor_consistent | |
| failing = {c.gate for c in res.checks if c.applicable and not c.passed} | |
| assert "sensor_consistency_cam_lidar" in failing | |
| def test_wrong_orientation_measured_against_reference(env): | |
| store, ds, frame = env | |
| gt = max(frame.gt_boxes, key=lambda g: g.bbox_3d[3]) | |
| x, y, z, l, w, h, yaw = gt.bbox_3d | |
| ann = _ann(ds, frame, [x, y, z, l, w, h, yaw + math.radians(60)], gt.class_name, gt.gt_id) | |
| res = validate_annotation(store, ann, frame) | |
| assert res.orientation_error_deg == pytest.approx(60.0, abs=1.0) | |
| failing = {c.gate for c in res.checks if c.applicable and not c.passed} | |
| assert "orientation_error_deg" in failing | |