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remade branch for commits for ObjectInWorld label parameter implemented #208

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remade branch for commits for ObjectInWorld label parameter implemented #208

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remade branch for commits for ObjectInWorld label parameter implement…
Cyuber Oct 9, 2024
7583688
fixed formatting
Aleksa-M Oct 9, 2024
f188bda
changed temp_object to cluster_object
Cyuber Oct 11, 2024
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5 changes: 3 additions & 2 deletions modules/cluster_estimation/cluster_estimation.py
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Original file line number Diff line number Diff line change
Expand Up @@ -193,14 +193,15 @@ def run(
# Create output list of remaining valid clusters
detections_in_world = []
for cluster in model_output:
result, landing_pad = object_in_world.ObjectInWorld.create(
result, temp_object = object_in_world.ObjectInWorld.create(
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@Xierumeng Xierumeng Oct 10, 2024

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cluster_object

cluster[0][0],
cluster[0][1],
cluster[2],
0,
)

if result:
detections_in_world.append(landing_pad)
detections_in_world.append(temp_object)

return True, detections_in_world

Expand Down
9 changes: 7 additions & 2 deletions modules/object_in_world.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,23 +12,27 @@ class ObjectInWorld:

@classmethod
def create(
cls, location_x: float, location_y: float, spherical_variance: float
cls, location_x: float, location_y: float, spherical_variance: float, label: int
) -> "tuple[bool, ObjectInWorld | None]":
"""
location_x, location_y: Location of the object.
spherical_variance: Uncertainty of the location.
label: Type of object in real world.
"""
if spherical_variance < 0.0:
return False, None

return True, ObjectInWorld(cls.__create_key, location_x, location_y, spherical_variance)
return True, ObjectInWorld(
cls.__create_key, location_x, location_y, spherical_variance, label
)

def __init__(
self,
class_private_create_key: object,
location_x: float,
location_y: float,
spherical_variance: float,
label: int,
) -> None:
"""
Private constructor, use create() method.
Expand All @@ -38,3 +42,4 @@ def __init__(
self.location_x = location_x
self.location_y = location_y
self.spherical_variance = spherical_variance
self.label = label
14 changes: 9 additions & 5 deletions tests/unit/test_decision.py
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Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,9 @@ def best_pad_within_tolerance() -> object_in_world.ObjectInWorld: # type: ignor
location_x = BEST_PAD_LOCATION_X
location_y = BEST_PAD_LOCATION_Y
spherical_variance = 1.0
result, pad = object_in_world.ObjectInWorld.create(location_x, location_y, spherical_variance)
result, pad = object_in_world.ObjectInWorld.create(
location_x, location_y, spherical_variance, 0
)
assert result
assert pad is not None

Expand All @@ -56,7 +58,9 @@ def best_pad_outside_tolerance() -> object_in_world.ObjectInWorld: # type: igno
location_x = 100.0
location_y = 200.0
spherical_variance = 5.0 # variance outside tolerance
result, pad = object_in_world.ObjectInWorld.create(location_x, location_y, spherical_variance)
result, pad = object_in_world.ObjectInWorld.create(
location_x, location_y, spherical_variance, 0
)
assert result
assert pad is not None

Expand All @@ -68,15 +72,15 @@ def pads() -> "list[object_in_world.ObjectInWorld]": # type: ignore
"""
Create a list of ObjectInWorld instances for the landing pads.
"""
result, pad_1 = object_in_world.ObjectInWorld.create(30.0, 40.0, 2.0)
result, pad_1 = object_in_world.ObjectInWorld.create(30.0, 40.0, 2.0, 0)
assert result
assert pad_1 is not None

result, pad_2 = object_in_world.ObjectInWorld.create(50.0, 60.0, 3.0)
result, pad_2 = object_in_world.ObjectInWorld.create(50.0, 60.0, 3.0, 0)
assert result
assert pad_2 is not None

result, pad_3 = object_in_world.ObjectInWorld.create(70.0, 80.0, 4.0)
result, pad_3 = object_in_world.ObjectInWorld.create(70.0, 80.0, 4.0, 0)
assert result
assert pad_3 is not None

Expand Down
72 changes: 36 additions & 36 deletions tests/unit/test_landing_pad_tracking.py
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Original file line number Diff line number Diff line change
Expand Up @@ -30,23 +30,23 @@ def detections_1() -> "list[object_in_world.ObjectInWorld]": # type: ignore
"""
Sample instances of ObjectInWorld for testing.
"""
result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 8)
result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 8, 0)
assert result
assert obj_1 is not None

result, obj_2 = object_in_world.ObjectInWorld.create(2, 2, 4)
result, obj_2 = object_in_world.ObjectInWorld.create(2, 2, 4, 0)
assert result
assert obj_2 is not None

result, obj_3 = object_in_world.ObjectInWorld.create(-2, -2, 2)
result, obj_3 = object_in_world.ObjectInWorld.create(-2, -2, 2, 0)
assert result
assert obj_3 is not None

result, obj_4 = object_in_world.ObjectInWorld.create(3, 3, 10)
result, obj_4 = object_in_world.ObjectInWorld.create(3, 3, 10, 0)
assert result
assert obj_4 is not None

result, obj_5 = object_in_world.ObjectInWorld.create(-3, -3, 6)
result, obj_5 = object_in_world.ObjectInWorld.create(-3, -3, 6, 0)
assert result
assert obj_5 is not None

Expand All @@ -59,23 +59,23 @@ def detections_2() -> "list[object_in_world.ObjectInWorld]": # type: ignore
"""
Sample instances of ObjectInWorld for testing.
"""
result, obj_1 = object_in_world.ObjectInWorld.create(0.5, 0.5, 1)
result, obj_1 = object_in_world.ObjectInWorld.create(0.5, 0.5, 1, 0)
assert result
assert obj_1 is not None

result, obj_2 = object_in_world.ObjectInWorld.create(1.5, 1.5, 3)
result, obj_2 = object_in_world.ObjectInWorld.create(1.5, 1.5, 3, 0)
assert result
assert obj_2 is not None

result, obj_3 = object_in_world.ObjectInWorld.create(4, 4, 7)
result, obj_3 = object_in_world.ObjectInWorld.create(4, 4, 7, 0)
assert result
assert obj_3 is not None

result, obj_4 = object_in_world.ObjectInWorld.create(-4, -4, 5)
result, obj_4 = object_in_world.ObjectInWorld.create(-4, -4, 5, 0)
assert result
assert obj_4 is not None

result, obj_5 = object_in_world.ObjectInWorld.create(5, 5, 9)
result, obj_5 = object_in_world.ObjectInWorld.create(5, 5, 9, 0)
assert result
assert obj_5 is not None

Expand All @@ -88,23 +88,23 @@ def detections_3() -> "list[object_in_world.ObjectInWorld]": # type: ignore
"""
Sample instances of ObjectInWorld for testing.
"""
result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 8)
result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 8, 0)
assert result
assert obj_1 is not None

result, obj_2 = object_in_world.ObjectInWorld.create(0.5, 0.5, 4)
result, obj_2 = object_in_world.ObjectInWorld.create(0.5, 0.5, 4, 0)
assert result
assert obj_2 is not None

result, obj_3 = object_in_world.ObjectInWorld.create(-2, -2, 2)
result, obj_3 = object_in_world.ObjectInWorld.create(-2, -2, 2, 0)
assert result
assert obj_3 is not None

result, obj_4 = object_in_world.ObjectInWorld.create(3, 3, 10)
result, obj_4 = object_in_world.ObjectInWorld.create(3, 3, 10, 0)
assert result
assert obj_4 is not None

result, obj_5 = object_in_world.ObjectInWorld.create(-3, -3, 6)
result, obj_5 = object_in_world.ObjectInWorld.create(-3, -3, 6, 0)
assert result
assert obj_5 is not None

Expand All @@ -123,11 +123,11 @@ def test_is_similar_positive_equal_to_threshold(self) -> None:
Test case where the second landing pad has positive coordinates and the distance between
them is equal to the distance threshold.
"""
result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, 0)
assert result
assert obj_1 is not None

result, obj_2 = object_in_world.ObjectInWorld.create(1, 1, 0)
result, obj_2 = object_in_world.ObjectInWorld.create(1, 1, 0, 0)
assert result
assert obj_2 is not None

Expand All @@ -145,11 +145,11 @@ def test_is_similar_negative_equal_to_threshold(self) -> None:
Test case where the second landing pad has negative coordinates and the distance between
them is equal to the distance threshold.
"""
result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, 0)
assert result
assert obj_1 is not None

result, obj_2 = object_in_world.ObjectInWorld.create(-1, -1, 0)
result, obj_2 = object_in_world.ObjectInWorld.create(-1, -1, 0, 0)
assert result
assert obj_2 is not None

Expand All @@ -168,11 +168,11 @@ def test_is_similar_positive_less_than_threshold(self) -> None:
Test case where the second landing pad has positive coordinates and the distance between
them is less than the distance threshold.
"""
result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, 0)
assert result
assert obj_1 is not None

result, obj_2 = object_in_world.ObjectInWorld.create(0.5, 0.5, 0)
result, obj_2 = object_in_world.ObjectInWorld.create(0.5, 0.5, 0, 0)
assert result
assert obj_2 is not None

Expand All @@ -191,11 +191,11 @@ def test_is_similar_negative_less_than_threshold(self) -> None:
Test case where the second landing pad has negative coordinates and the distance between
them is less than the distance threshold.
"""
result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, 0)
assert result
assert obj_1 is not None

result, obj_2 = object_in_world.ObjectInWorld.create(-0.5, -0.5, 0)
result, obj_2 = object_in_world.ObjectInWorld.create(-0.5, -0.5, 0, 0)
assert result
assert obj_2 is not None

Expand All @@ -214,11 +214,11 @@ def test_is_similar_positive_more_than_threshold(self) -> None:
Test case where the second landing pad has positive coordinates and the distance between
them is more than the distance threshold.
"""
result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, 0)
assert result
assert obj_1 is not None

result, obj_2 = object_in_world.ObjectInWorld.create(2, 2, 0)
result, obj_2 = object_in_world.ObjectInWorld.create(2, 2, 0, 0)
assert result
assert obj_2 is not None

Expand All @@ -237,11 +237,11 @@ def test_is_similar_negative_more_than_threshold(self) -> None:
Test case where the second landing pad has negative coordinates and the distance between
them is more than the distance threshold.
"""
result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0)
result, obj_1 = object_in_world.ObjectInWorld.create(0, 0, 0, 0)
assert result
assert obj_1 is not None

result, obj_2 = object_in_world.ObjectInWorld.create(-2, -2, 0)
result, obj_2 = object_in_world.ObjectInWorld.create(-2, -2, 0, 0)
assert result
assert obj_2 is not None

Expand Down Expand Up @@ -269,7 +269,7 @@ def test_mark_false_positive_no_similar(
"""
Test if marking false positive adds detection to list of false positives.
"""
_, false_positive = object_in_world.ObjectInWorld.create(20, 20, 20)
_, false_positive = object_in_world.ObjectInWorld.create(20, 20, 20, 0)
assert false_positive is not None

tracker._LandingPadTracking__unconfirmed_positives = detections_1 # type: ignore
Expand All @@ -296,7 +296,7 @@ def test_mark_false_positive_with_similar(
Test if marking false positive adds detection to list of false positives and removes.
similar landing pads
"""
_, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
_, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1, 0)
assert false_positive is not None

tracker._LandingPadTracking__unconfirmed_positives = detections_2 # type: ignore
Expand All @@ -316,10 +316,10 @@ def test_mark_multiple_false_positive(
"""
Test if marking false positive adds detection to list of false positives.
"""
_, false_positive_1 = object_in_world.ObjectInWorld.create(0, 0, 1)
_, false_positive_1 = object_in_world.ObjectInWorld.create(0, 0, 1, 0)
assert false_positive_1 is not None

_, false_positive_2 = object_in_world.ObjectInWorld.create(2, 2, 1)
_, false_positive_2 = object_in_world.ObjectInWorld.create(2, 2, 1, 0)
assert false_positive_2 is not None

tracker._LandingPadTracking__unconfirmed_positives = detections_1 # type: ignore
Expand All @@ -344,7 +344,7 @@ def test_mark_confirmed_positive(
"""
Test if marking confirmed positive adds detection to list of confirmed positives.
"""
_, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
_, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1, 0)
assert confirmed_positive is not None

expected = [confirmed_positive]
Expand All @@ -359,10 +359,10 @@ def test_mark_multiple_confirmed_positives(
"""
Test if marking confirmed positive adds detection to list of confirmed positives.
"""
_, confirmed_positive_1 = object_in_world.ObjectInWorld.create(1, 1, 1)
_, confirmed_positive_1 = object_in_world.ObjectInWorld.create(1, 1, 1, 0)
assert confirmed_positive_1 is not None

_, confirmed_positive_2 = object_in_world.ObjectInWorld.create(2, 2, 1)
_, confirmed_positive_2 = object_in_world.ObjectInWorld.create(2, 2, 1, 0)
assert confirmed_positive_2 is not None

expected = [confirmed_positive_1, confirmed_positive_2]
Expand Down Expand Up @@ -469,7 +469,7 @@ def test_run_with_confirmed_positive(
"""
Test run when there is a confirmed positive.
"""
_, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
_, confirmed_positive = object_in_world.ObjectInWorld.create(1, 1, 1, 0)
assert confirmed_positive is not None

tracker._LandingPadTracking__confirmed_positives.append(confirmed_positive) # type: ignore
Expand All @@ -488,7 +488,7 @@ def test_run_with_false_positive(
"""
Test to see if run function doesn't add landing pads that are similar to false positives.
"""
_, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1)
_, false_positive = object_in_world.ObjectInWorld.create(1, 1, 1, 0)
assert false_positive is not None

tracker._LandingPadTracking__false_positives.append(false_positive) # type: ignore
Expand Down