From a72959c6f94da9ca63b2ded9827c98fb6d4f5383 Mon Sep 17 00:00:00 2001
From: ktro2828 <kotaro.uetake@tier4.jp>
Date: Thu, 28 Dec 2023 16:19:47 +0900
Subject: [PATCH] refactor: update constructor of `PerceptionFrameResult`

Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>
---
 .../manager/perception_evaluation_manager.py  | 18 ++++++++----
 .../perception/perception_frame_result.py     | 29 ++++++++++++-------
 2 files changed, 30 insertions(+), 17 deletions(-)

diff --git a/perception_eval/perception_eval/manager/perception_evaluation_manager.py b/perception_eval/perception_eval/manager/perception_evaluation_manager.py
index 10652a2c..0c9dcd92 100644
--- a/perception_eval/perception_eval/manager/perception_evaluation_manager.py
+++ b/perception_eval/perception_eval/manager/perception_evaluation_manager.py
@@ -15,6 +15,7 @@
 from __future__ import annotations
 
 from typing import List
+from typing import Optional
 from typing import Tuple
 from typing import TYPE_CHECKING
 
@@ -78,8 +79,8 @@ def add_frame_result(
         unix_time: int,
         ground_truth_now_frame: FrameGroundTruth,
         estimated_objects: List[ObjectType],
-        critical_ground_truth_objects: List[ObjectType],
-        frame_config: PerceptionFrameConfig,
+        critical_ground_truth_objects: Optional[List[ObjectType]] = None,
+        frame_config: Optional[PerceptionFrameConfig] = None,
     ) -> PerceptionFrameResult:
         """Get perception result at current frame.
 
@@ -106,13 +107,18 @@ def add_frame_result(
             ground_truth_now_frame,
         )
 
+        if critical_ground_truth_objects is None:
+            critical_ground_truth_objects = ground_truth_now_frame.objects.copy()
+
+        if frame_config is None:
+            frame_config = PerceptionFrameConfig(self.config)
+
         result = PerceptionFrameResult(
+            unix_time=unix_time,
+            frame_config=frame_config,
+            metrics_config=self.metrics_config,
             object_results=object_results,
             frame_ground_truth=ground_truth_now_frame,
-            metrics_config=self.metrics_config,
-            frame_config=frame_config,
-            unix_time=unix_time,
-            target_labels=self.target_labels,
         )
 
         if len(self.frame_results) > 0:
diff --git a/perception_eval/perception_eval/result/perception/perception_frame_result.py b/perception_eval/perception_eval/result/perception/perception_frame_result.py
index ce862f80..8f752e6c 100644
--- a/perception_eval/perception_eval/result/perception/perception_frame_result.py
+++ b/perception_eval/perception_eval/result/perception/perception_frame_result.py
@@ -60,38 +60,45 @@ class PerceptionFrameResult:
 
     def __init__(
         self,
+        unix_time: int,
+        frame_config: PerceptionFrameConfig,
+        metrics_config: MetricsScoreConfig,
         object_results: List[DynamicObjectWithPerceptionResult],
         frame_ground_truth: FrameGroundTruth,
-        metrics_config: MetricsScoreConfig,
-        frame_config: PerceptionFrameConfig,
-        unix_time: int,
-        target_labels: List[LabelType],
     ) -> None:
-        self.frame_number = frame_ground_truth.frame_number
         self.unix_time = unix_time
-        self.target_labels = target_labels
+        self.frame_config = frame_config
+        self.metrics_config = metrics_config
 
         self.object_results = object_results
         self.frame_ground_truth = frame_ground_truth
 
         # init evaluation
         self.metrics_score = metrics.MetricsScore(
-            metrics_config,
+            self.metrics_config,
             used_frame=[int(self.frame_number)],
         )
         self.pass_fail_result = PassFailResult(
-            unix_time=unix_time,
+            unix_time=self.unix_time,
             frame_number=self.frame_number,
-            frame_config=frame_config,
-            ego2map=frame_ground_truth.ego2map,
+            frame_config=self.frame_config,
+            ego2map=self.frame_ground_truth.ego2map,
         )
 
+    @property
+    def target_labels(self) -> List[LabelType]:
+        return self.frame_config.target_labels
+
+    @property
+    def frame_number(self) -> int:
+        return self.frame_ground_truth.frame_number
+
     def evaluate_frame(
         self,
         critical_ground_truth_objects: List[ObjectType],
         previous_result: Optional[PerceptionFrameResult] = None,
     ) -> None:
-        """[summary]
+        """
         Evaluate a frame from the pair of estimated objects and ground truth objects
         Args:
             ros_critical_ground_truth_objects (List[ObjectType]): The list of Ground truth objects filtered by ROS node.