safesight/edge/tests/test_pose_assoc.cpp

#include <gtest/gtest.h>

#include <memory>
#include <string>

#include "frame/frame.h"
#include "node.h"
#include "pose/pose_result.h"
#include "utils/simple_json.h"
#include "../plugins/pose_assoc/pose_assoc_node.h"

namespace rk3588 {
namespace {

SimpleJson ParsePoseAssocConfig(const std::string& text) {
    SimpleJson config;
    std::string err;
    const bool ok = ParseSimpleJson(text, config, err);
    EXPECT_TRUE(ok);
    return config;
}

TEST(PoseAssocNodeTest, AssociatesPoseItemsToTrackedDetections) {
    PoseAssocNode node;
    SimpleJson config = ParsePoseAssocConfig(R"({
        "id": "pose_assoc0",
        "min_iou": 0.1
    })");

    NodeContext ctx;
    auto out = std::make_shared<SpscQueue<FramePtr>>(4, QueueDropStrategy::DropOldest);
    ctx.output_queues.push_back(out);

    ASSERT_TRUE(node.Init(config, ctx));
    ASSERT_TRUE(node.Start());

    auto frame = std::make_shared<Frame>();
    frame->det = std::make_shared<DetectionResult>();
    frame->det->items.push_back(Detection{0, 0.95f, Rect{100.0f, 100.0f, 120.0f, 240.0f}, 7});
    frame->det->items.push_back(Detection{0, 0.94f, Rect{320.0f, 120.0f, 120.0f, 240.0f}, 8});

    frame->pose = std::make_shared<PoseResult>();
    PoseItem pose0;
    pose0.bbox = Rect{110.0f, 110.0f, 110.0f, 220.0f};
    PoseItem pose1;
    pose1.bbox = Rect{330.0f, 130.0f, 100.0f, 210.0f};
    frame->pose->items.push_back(pose0);
    frame->pose->items.push_back(pose1);

    EXPECT_EQ(static_cast<int>(node.Process(frame)), static_cast<int>(NodeStatus::OK));
    ASSERT_EQ(frame->pose->items.size(), 2u);
    EXPECT_EQ(frame->pose->items[0].track_id, 7);
    EXPECT_EQ(frame->pose->items[1].track_id, 8);

    FramePtr forwarded;
    ASSERT_TRUE(out->TryPop(forwarded));
    EXPECT_EQ(forwarded.get(), frame.get());
}

TEST(PoseAssocNodeTest, UsesOneToOneAssignmentForOverlappingCandidates) {
    PoseAssocNode node;
    SimpleJson config = ParsePoseAssocConfig(R"({
        "id": "pose_assoc0",
        "min_iou": 0.05
    })");

    NodeContext ctx;
    ASSERT_TRUE(node.Init(config, ctx));
    ASSERT_TRUE(node.Start());

    auto frame = std::make_shared<Frame>();
    frame->det = std::make_shared<DetectionResult>();
    frame->det->items.push_back(Detection{0, 0.95f, Rect{100.0f, 100.0f, 150.0f, 250.0f}, 11});
    frame->det->items.push_back(Detection{0, 0.94f, Rect{130.0f, 120.0f, 150.0f, 250.0f}, 12});

    frame->pose = std::make_shared<PoseResult>();
    PoseItem pose0;
    pose0.bbox = Rect{105.0f, 110.0f, 145.0f, 245.0f};
    PoseItem pose1;
    pose1.bbox = Rect{132.0f, 125.0f, 148.0f, 245.0f};
    frame->pose->items.push_back(pose0);
    frame->pose->items.push_back(pose1);

    EXPECT_EQ(static_cast<int>(node.Process(frame)), static_cast<int>(NodeStatus::OK));
    EXPECT_NE(frame->pose->items[0].track_id, frame->pose->items[1].track_id);
    EXPECT_TRUE(frame->pose->items[0].track_id == 11 || frame->pose->items[0].track_id == 12);
    EXPECT_TRUE(frame->pose->items[1].track_id == 11 || frame->pose->items[1].track_id == 12);
}

TEST(PoseAssocNodeTest, PassesThroughWhenPoseOrDetectionMissing) {
    PoseAssocNode node;
    SimpleJson config = ParsePoseAssocConfig(R"({
        "id": "pose_assoc0"
    })");

    NodeContext ctx;
    ASSERT_TRUE(node.Init(config, ctx));
    ASSERT_TRUE(node.Start());

    auto no_pose = std::make_shared<Frame>();
    no_pose->det = std::make_shared<DetectionResult>();
    no_pose->det->items.push_back(Detection{0, 0.9f, Rect{0.0f, 0.0f, 10.0f, 10.0f}, 1});
    EXPECT_EQ(static_cast<int>(node.Process(no_pose)), static_cast<int>(NodeStatus::OK));
    EXPECT_EQ(no_pose->pose, nullptr);

    auto no_det = std::make_shared<Frame>();
    no_det->pose = std::make_shared<PoseResult>();
    PoseItem pose;
    pose.bbox = Rect{0.0f, 0.0f, 10.0f, 10.0f};
    no_det->pose->items.push_back(pose);
    EXPECT_EQ(static_cast<int>(node.Process(no_det)), static_cast<int>(NodeStatus::OK));
    ASSERT_EQ(no_det->pose->items.size(), 1u);
    EXPECT_EQ(no_det->pose->items[0].track_id, -1);
}

}  // namespace
}  // namespace rk3588