From 56b15a2db9f19fb222ffc1ce22f09b45d9d59e75 Mon Sep 17 00:00:00 2001
From: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com>
Date: Tue, 19 Dec 2023 19:01:39 +0900
Subject: [PATCH 1/9] refactor: create object and dataset direction in common
 (#110)

* refactor: create object and dataset direction in common

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

* docs: update document links

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

---------

Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>
---
 .vscode/settings.json                         |  2 +-
 docs/en/common.md                             |  8 +--
 docs/ja/common.md                             |  8 +--
 .../perception_eval/common/__init__.py        | 39 -----------
 .../common/dataset/__init__.py                | 19 ++++++
 .../common/dataset/ground_truth.py            | 47 ++++++++++++++
 .../common/{dataset.py => dataset/load.py}    | 48 +-------------
 .../{dataset_utils.py => dataset/utils.py}    | 12 ++--
 .../perception_eval/common/object/__init__.py | 65 +++++++++++++++++++
 .../common/{ => object}/object2d.py           |  0
 .../common/{object.py => object/object3d.py}  |  0
 .../evaluation/matching/object_matching.py    |  8 +--
 .../evaluation/matching/objects_filter.py     | 14 ++--
 .../evaluation/result/object_result.py        | 12 ++--
 .../result/perception_frame_result.py         |  2 +-
 .../result/perception_pass_fail_result.py     |  2 +-
 .../manager/perception_evaluation_manager.py  |  2 +-
 .../tool/perception_analyzer2d.py             |  2 +-
 .../tool/perception_analyzer_base.py          | 10 +--
 perception_eval/perception_eval/util/debug.py |  2 +-
 .../visualization/perception_visualizer2d.py  |  2 +-
 perception_eval/test/common/test_object.py    |  4 +-
 .../evaluation/metrics/detection/test_ap.py   |  2 +-
 .../evaluation/metrics/detection/test_map.py  |  2 +-
 .../evaluation/metrics/tracking/test_clear.py |  2 +-
 .../tracking/test_tracking_metrics_score.py   |  2 +-
 .../evaluation/result/test_object_result.py   |  2 +-
 .../test/perception_fp_validation_lsim.py     |  2 +-
 perception_eval/test/perception_lsim2d.py     |  2 +-
 perception_eval/test/util/dummy_object.py     |  2 +-
 30 files changed, 187 insertions(+), 137 deletions(-)
 create mode 100644 perception_eval/perception_eval/common/dataset/__init__.py
 create mode 100644 perception_eval/perception_eval/common/dataset/ground_truth.py
 rename perception_eval/perception_eval/common/{dataset.py => dataset/load.py} (81%)
 rename perception_eval/perception_eval/common/{dataset_utils.py => dataset/utils.py} (98%)
 create mode 100644 perception_eval/perception_eval/common/object/__init__.py
 rename perception_eval/perception_eval/common/{ => object}/object2d.py (100%)
 rename perception_eval/perception_eval/common/{object.py => object/object3d.py} (100%)

diff --git a/.vscode/settings.json b/.vscode/settings.json
index d8f62c32..0250ecb9 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -12,7 +12,7 @@
     "editor.formatOnPaste": true,
     "editor.formatOnSave": true,
     "editor.codeActionsOnSave": {
-      "source.organizeImports": true
+      "source.organizeImports": "explicit"
     },
     "editor.defaultFormatter": "ms-python.black-formatter"
   },
diff --git a/docs/en/common.md b/docs/en/common.md
index 5d4be59a..5bdaf6ae 100644
--- a/docs/en/common.md
+++ b/docs/en/common.md
@@ -1,6 +1,6 @@
 # Common items in Perception and Sensing
 
-## [`<class> DynamicObject(...)`](../../perception_eval/perception_eval/common/object.py)
+## [`<class> DynamicObject(...)`](../../perception_eval/perception_eval/common/object/object3d.py)
 
 - Evaluation task: `DETECTION`, `TRACKING`, `PREDICTION`, `SENSING`
 
@@ -27,7 +27,7 @@
 | `predicted_confidence`   |              `float`               | List of predicted confidence.                                              |
 | `visibility`             |       `Optional[Visibility]`       | Visibility status.                                                         |
 
-## [`<class> DynamicObject2D(...)`](../../perception_eval/perception_eval/common/object2d.py)
+## [`<class> DynamicObject2D(...)`](../../perception_eval/perception_eval/common/object/object2d.py)
 
 - Evaluation task: `DETECTION2D`, `TRACING2D`, `CLASSIFICATION2D`
 
@@ -43,7 +43,7 @@
 
 ## Ground truth
 
-### [`<class> FrameGroundTruth(...)`](../../perception_eval/perception_eval/common/dataset.py)
+### [`<class> FrameGroundTruth(...)`](../../perception_eval/perception_eval/common/dataset/ground_truth.py)
 
 | Argument     |           type            | Description                                                                                             |
 | :----------- | :-----------------------: | :------------------------------------------------------------------------------------------------------ |
@@ -53,7 +53,7 @@
 | `ego2map`    | `Optional[numpy.ndarray]` | 4x4 matrix to transform objects with respect to base_link coordinate system map one. (Defaults to None) |
 | `raw_data`   | `Optional[numpy.ndarray]` | Array of pointcloud/image. (Defaults to None)                                                           |
 
-### [`<func> load_all_datasets(...) -> List[FrameGroundTruth]`](../../perception_eval/perception_eval/common/dataset.py)
+### [`<func> load_all_datasets(...) -> List[FrameGroundTruth]`](../../perception_eval/perception_eval/common/dataset/load.py)
 
 | Argument          |                type                 | Description                                       |
 | :---------------- | :---------------------------------: | :------------------------------------------------ |
diff --git a/docs/ja/common.md b/docs/ja/common.md
index 6ef7e69a..d0d33a8d 100644
--- a/docs/ja/common.md
+++ b/docs/ja/common.md
@@ -1,6 +1,6 @@
 # Common items in Perception and Sensing
 
-## [`<class> DynamicObject(...)`](../../perception_eval/perception_eval/common/object.py)
+## [`<class> DynamicObject(...)`](../../perception_eval/perception_eval/common/object/object3d.py)
 
 3 次元オブジェクトのクラス．
 
@@ -29,7 +29,7 @@
 | `predicted_confidence`   |              `Optional[float]`               | 予測状態の信頼度. (Default: None)                                       |
 | `visibility`             |            `Optional[Visibility]`            | 視認性のステータス. (Default: None)                                     |
 
-## [`<class> DynamicObject2D(...)`](../../perception_eval/perception_eval/common/object2d.py)
+## [`<class> DynamicObject2D(...)`](../../perception_eval/perception_eval/common/object/object2d.py)
 
 2 次元オブジェクトのクラス．
 
@@ -47,7 +47,7 @@
 
 ## Ground truth
 
-### [`<class> FrameGroundTruth(...)`](../../perception_eval/perception_eval/common/dataset.py)
+### [`<class> FrameGroundTruth(...)`](../../perception_eval/perception_eval/common/dataset/ground_truth.py)
 
 フレームごとの GT オブジェクトの集合のクラス．
 
@@ -59,7 +59,7 @@
 | `ego2map`    | `Optional[numpy.ndarray]` | オブジェクトの座標系を base_link から map に変換する 4x4 行列. (Default: None) |
 | `raw_data`   | `Optional[numpy.ndarray]` | 点群または画像. (Default: None)                                                |
 
-### [`<func> load_all_datasets(...) -> List[FrameGroundTruth]`](../../perception_eval/perception_eval/common/dataset.py)
+### [`<func> load_all_datasets(...) -> List[FrameGroundTruth]`](../../perception_eval/perception_eval/common/dataset/load.py)
 
 データセットをロードする関数．
 
diff --git a/perception_eval/perception_eval/common/__init__.py b/perception_eval/perception_eval/common/__init__.py
index 6dc4be9c..9be33190 100644
--- a/perception_eval/perception_eval/common/__init__.py
+++ b/perception_eval/perception_eval/common/__init__.py
@@ -11,42 +11,3 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
-
-from typing import Union
-
-import numpy as np
-from perception_eval.common.object2d import DynamicObject2D
-from perception_eval.common.object import DynamicObject
-from perception_eval.common.point import distance_points
-from perception_eval.common.point import distance_points_bev
-
-# Type aliases
-ObjectType = Union[DynamicObject, DynamicObject2D]
-
-
-def distance_objects(object_1: ObjectType, object_2: ObjectType) -> float:
-    """[summary]
-    Calculate the 3D/2D center distance between two objects.
-    Args:
-         object_1 (ObjectType): An object
-         object_2 (ObjectType): An object
-    Returns: float: The center distance between object_1 and object_2.
-    """
-    if type(object_1) != type(object_2):
-        raise TypeError(f"objects' type must be same, but got {type(object_1) and {type(object_2)}}")
-
-    if isinstance(object_1, DynamicObject):
-        return distance_points(object_1.state.position, object_2.state.position)
-    return np.linalg.norm(np.array(object_1.roi.center) - np.array(object_2.roi.center))
-
-
-def distance_objects_bev(object_1: DynamicObject, object_2: DynamicObject) -> float:
-    """[summary]
-    Calculate the BEV 2d center distance between two objects.
-    Args:
-         object_1 (DynamicObject): An object
-         object_2 (DynamicObject): An object
-    Returns: float: The 2d center distance from object_1 to object_2.
-    """
-    assert isinstance(object_1, DynamicObject) and isinstance(object_2, DynamicObject)
-    return distance_points_bev(object_1.state.position, object_2.state.position)
diff --git a/perception_eval/perception_eval/common/dataset/__init__.py b/perception_eval/perception_eval/common/dataset/__init__.py
new file mode 100644
index 00000000..7f739a3c
--- /dev/null
+++ b/perception_eval/perception_eval/common/dataset/__init__.py
@@ -0,0 +1,19 @@
+# Copyright 2023 TIER IV, Inc.
+
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+
+#     http://www.apache.org/licenses/LICENSE-2.0
+
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from .ground_truth import FrameGroundTruth
+from .load import get_now_frame
+from .load import load_all_datasets
+
+__all__ = ("FrameGroundTruth", "get_now_frame", "load_all_datasets")
diff --git a/perception_eval/perception_eval/common/dataset/ground_truth.py b/perception_eval/perception_eval/common/dataset/ground_truth.py
new file mode 100644
index 00000000..9fd0e857
--- /dev/null
+++ b/perception_eval/perception_eval/common/dataset/ground_truth.py
@@ -0,0 +1,47 @@
+from typing import Dict
+from typing import List
+from typing import Optional
+
+import numpy as np
+
+from ..object import ObjectType
+
+
+class FrameGroundTruth:
+    """
+    Ground truth data per frame
+
+    Attributes:
+        unix_time (float): The unix time for the frame [us].
+        frame_name (str): The file name for the frame.
+        objects (List[DynamicObject]): Objects data.
+        pointcloud (Optional[numpy.ndarray], optional):
+                Pointcloud data. Defaults to None, but if you want to visualize dataset,
+                you should load pointcloud data.
+        transform_matrix (Optional[np.ndarray]): The numpy array to transform position.
+        objects (List[ObjectType]): Objects data.
+        ego2map (Optional[np.ndarray]): The numpy array to transform position.
+        raw_data (Optional[Dict[str, numpy.ndarray]]): Raw data for each sensor modality.
+
+    Args:
+        unix_time (int): The unix time for the frame [us]
+        frame_name (str): The file name for the frame
+        objects (List[DynamicObject]): Objects data.
+        ego2map (Optional[np.ndarray]): The array of 4x4 matrix.
+            Transform position with respect to vehicle coord system to map one.
+        raw_data (Optional[Dict[str, numpy.ndarray]]): Raw data for each sensor modality.
+    """
+
+    def __init__(
+        self,
+        unix_time: int,
+        frame_name: str,
+        objects: List[ObjectType],
+        ego2map: Optional[np.ndarray] = None,
+        raw_data: Optional[Dict[str, np.ndarray]] = None,
+    ) -> None:
+        self.unix_time: int = unix_time
+        self.frame_name: str = frame_name
+        self.objects: List[ObjectType] = objects
+        self.ego2map: Optional[np.ndarray] = ego2map
+        self.raw_data: Optional[Dict[str, np.ndarray]] = raw_data
diff --git a/perception_eval/perception_eval/common/dataset.py b/perception_eval/perception_eval/common/dataset/load.py
similarity index 81%
rename from perception_eval/perception_eval/common/dataset.py
rename to perception_eval/perception_eval/common/dataset/load.py
index d4e8d6d7..16602822 100644
--- a/perception_eval/perception_eval/common/dataset.py
+++ b/perception_eval/perception_eval/common/dataset/load.py
@@ -14,64 +14,22 @@
 
 import logging
 from typing import Any
-from typing import Dict
 from typing import List
 from typing import Optional
 from typing import Sequence
 from typing import Union
 
 from nuimages import NuImages
-import numpy as np
 from nuscenes.nuscenes import NuScenes
 from nuscenes.prediction.helper import PredictHelper
-from perception_eval.common import ObjectType
-from perception_eval.common.dataset_utils import _sample_to_frame
-from perception_eval.common.dataset_utils import _sample_to_frame_2d
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import LabelConverter
-from perception_eval.common.object import DynamicObject
 from perception_eval.common.schema import FrameID
 from tqdm import tqdm
 
-
-class FrameGroundTruth:
-    """
-    Ground truth data per frame
-
-    Attributes:
-        unix_time (float): The unix time for the frame [us].
-        frame_name (str): The file name for the frame.
-        objects (List[DynamicObject]): Objects data.
-        pointcloud (Optional[numpy.ndarray], optional):
-                Pointcloud data. Defaults to None, but if you want to visualize dataset,
-                you should load pointcloud data.
-        transform_matrix (Optional[np.ndarray]): The numpy array to transform position.
-        objects (List[ObjectType]): Objects data.
-        ego2map (Optional[np.ndarray]): The numpy array to transform position.
-        raw_data (Optional[Dict[str, numpy.ndarray]]): Raw data for each sensor modality.
-
-    Args:
-        unix_time (int): The unix time for the frame [us]
-        frame_name (str): The file name for the frame
-        objects (List[DynamicObject]): Objects data.
-        ego2map (Optional[np.ndarray]): The array of 4x4 matrix.
-            Transform position with respect to vehicle coord system to map one.
-        raw_data (Optional[Dict[str, numpy.ndarray]]): Raw data for each sensor modality.
-    """
-
-    def __init__(
-        self,
-        unix_time: int,
-        frame_name: str,
-        objects: List[DynamicObject],
-        ego2map: Optional[np.ndarray] = None,
-        raw_data: Optional[Dict[str, np.ndarray]] = None,
-    ) -> None:
-        self.unix_time: int = unix_time
-        self.frame_name: str = frame_name
-        self.objects: List[ObjectType] = objects
-        self.ego2map: Optional[np.ndarray] = ego2map
-        self.raw_data: Optional[Dict[str, np.ndarray]] = raw_data
+from .ground_truth import FrameGroundTruth
+from .utils import _sample_to_frame
+from .utils import _sample_to_frame_2d
 
 
 def load_all_datasets(
diff --git a/perception_eval/perception_eval/common/dataset_utils.py b/perception_eval/perception_eval/common/dataset/utils.py
similarity index 98%
rename from perception_eval/perception_eval/common/dataset_utils.py
rename to perception_eval/perception_eval/common/dataset/utils.py
index 75101852..d5b25aec 100644
--- a/perception_eval/perception_eval/common/dataset_utils.py
+++ b/perception_eval/perception_eval/common/dataset/utils.py
@@ -32,8 +32,8 @@
 from perception_eval.common.label import LabelConverter
 from perception_eval.common.label import LabelType
 from perception_eval.common.label import TrafficLightLabel
-from perception_eval.common.object2d import DynamicObject2D
 from perception_eval.common.object import DynamicObject
+from perception_eval.common.object import DynamicObject2D
 from perception_eval.common.schema import FrameID
 from perception_eval.common.schema import Visibility
 from perception_eval.common.shape import Shape
@@ -41,7 +41,7 @@
 from PIL import Image
 from pyquaternion.quaternion import Quaternion
 
-from . import dataset
+from .load import FrameGroundTruth
 
 #################################
 #           Dataset 3D          #
@@ -57,7 +57,7 @@ def _sample_to_frame(
     frame_id: FrameID,
     frame_name: str,
     load_raw_data: bool,
-) -> dataset.FrameGroundTruth:
+) -> FrameGroundTruth:
     """Load FrameGroundTruth instance from sample record.
 
     Args:
@@ -132,7 +132,7 @@ def _sample_to_frame(
         )
         objects_.append(object_)
 
-    frame = dataset.FrameGroundTruth(
+    frame = FrameGroundTruth(
         unix_time=unix_time_,
         frame_name=frame_name,
         objects=objects_,
@@ -433,7 +433,7 @@ def _sample_to_frame_2d(
     frame_ids: List[FrameID],
     frame_name: str,
     load_raw_data: bool,
-) -> dataset.FrameGroundTruth:
+) -> FrameGroundTruth:
     """Returns FrameGroundTruth constructed with DynamicObject2D.
 
     Args:
@@ -513,7 +513,7 @@ def _sample_to_frame_2d(
         )
         objects_.append(object_)
 
-    frame = dataset.FrameGroundTruth(
+    frame = FrameGroundTruth(
         unix_time=unix_time,
         frame_name=frame_name,
         objects=objects_,
diff --git a/perception_eval/perception_eval/common/object/__init__.py b/perception_eval/perception_eval/common/object/__init__.py
new file mode 100644
index 00000000..98947efa
--- /dev/null
+++ b/perception_eval/perception_eval/common/object/__init__.py
@@ -0,0 +1,65 @@
+# Copyright 2023 TIER IV, Inc.
+
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+
+#     http://www.apache.org/licenses/LICENSE-2.0
+
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from typing import Union
+
+import numpy as np
+
+from .object2d import DynamicObject2D
+from .object2d import Roi
+from .object3d import DynamicObject
+from ..point import distance_points
+from ..point import distance_points_bev
+
+ObjectType = Union[DynamicObject, DynamicObject2D]
+
+
+__all__ = (
+    "DynamicObject2D",
+    "Roi",
+    "DynamicObject",
+    "distance_objects",
+    "distance_objects_bev",
+    "ObjectType",
+)
+
+
+def distance_objects(object_1: ObjectType, object_2: ObjectType) -> float:
+    """
+    Calculate the 3D/2D center distance between two objects.
+
+    Args:
+         object_1 (ObjectType): An object
+         object_2 (ObjectType): An object
+    Returns: float: The center distance between object_1 and object_2.
+    """
+    if type(object_1) is not type(object_2):
+        raise TypeError(f"objects' type must be same, but got {type(object_1) and {type(object_2)}}")
+
+    if isinstance(object_1, DynamicObject):
+        return distance_points(object_1.state.position, object_2.state.position)
+    return np.linalg.norm(np.array(object_1.roi.center) - np.array(object_2.roi.center))
+
+
+def distance_objects_bev(object_1: DynamicObject, object_2: DynamicObject) -> float:
+    """
+    Calculate the BEV 2d center distance between two objects.
+
+    Args:
+         object_1 (DynamicObject): An object
+         object_2 (DynamicObject): An object
+    Returns: float: The 2d center distance from object_1 to object_2.
+    """
+    assert isinstance(object_1, DynamicObject) and isinstance(object_2, DynamicObject)
+    return distance_points_bev(object_1.state.position, object_2.state.position)
diff --git a/perception_eval/perception_eval/common/object2d.py b/perception_eval/perception_eval/common/object/object2d.py
similarity index 100%
rename from perception_eval/perception_eval/common/object2d.py
rename to perception_eval/perception_eval/common/object/object2d.py
diff --git a/perception_eval/perception_eval/common/object.py b/perception_eval/perception_eval/common/object/object3d.py
similarity index 100%
rename from perception_eval/perception_eval/common/object.py
rename to perception_eval/perception_eval/common/object/object3d.py
diff --git a/perception_eval/perception_eval/evaluation/matching/object_matching.py b/perception_eval/perception_eval/evaluation/matching/object_matching.py
index 7fd5ee1f..0a57ceb5 100644
--- a/perception_eval/perception_eval/evaluation/matching/object_matching.py
+++ b/perception_eval/perception_eval/evaluation/matching/object_matching.py
@@ -21,10 +21,10 @@
 from typing import Optional
 from typing import Tuple
 
-from perception_eval.common import distance_objects
-from perception_eval.common import distance_points_bev
-from perception_eval.common import ObjectType
+from perception_eval.common.object import distance_objects
 from perception_eval.common.object import DynamicObject
+from perception_eval.common.object import ObjectType
+from perception_eval.common.point import distance_points_bev
 from perception_eval.common.point import get_point_left_right
 from perception_eval.common.point import polygon_to_list
 from shapely.geometry import Polygon
@@ -73,7 +73,7 @@ def __init__(
         ground_truth_object: Optional[ObjectType],
     ) -> None:
         if ground_truth_object is not None:
-            assert type(estimated_object) == type(ground_truth_object)
+            assert type(estimated_object) is type(ground_truth_object)
         self.value: Optional[float] = self._calculate_matching_score(
             estimated_object=estimated_object,
             ground_truth_object=ground_truth_object,
diff --git a/perception_eval/perception_eval/evaluation/matching/objects_filter.py b/perception_eval/perception_eval/evaluation/matching/objects_filter.py
index 14427628..594ba03c 100644
--- a/perception_eval/perception_eval/evaluation/matching/objects_filter.py
+++ b/perception_eval/perception_eval/evaluation/matching/objects_filter.py
@@ -20,11 +20,11 @@
 import warnings
 
 import numpy as np
-from perception_eval.common import ObjectType
 from perception_eval.common.label import CommonLabel
 from perception_eval.common.label import Label
 from perception_eval.common.label import LabelType
 from perception_eval.common.object import DynamicObject
+from perception_eval.common.object import ObjectType
 from perception_eval.common.schema import FrameID
 from perception_eval.common.status import MatchingStatus
 from perception_eval.common.threshold import get_label_threshold
@@ -260,12 +260,12 @@ def get_positive_objects(
 
 
 def get_negative_objects(
-    ground_truth_objects: List[DynamicObject],
+    ground_truth_objects: List[ObjectType],
     object_results: List[DynamicObjectWithPerceptionResult],
     target_labels: List[Label],
     matching_mode: Optional[MatchingMode] = None,
     matching_threshold_list: Optional[List[float]] = None,
-) -> Tuple[List[DynamicObject], List[DynamicObject]]:
+) -> Tuple[List[ObjectType], List[ObjectType]]:
     """Returns TN (True Negative) and FN (False Negative) objects as `tuple`.
 
     If a ground truth object is contained in object results, it is TP or FP.
@@ -280,11 +280,11 @@ def get_negative_objects(
             each element corresponds to target label.
 
     Returns:
-        tn_objects (List[DynamicObject]): List of TN.
-        fn_objects (List[DynamicObject]): List of FN.
+        tn_objects (List[ObjectType]): List of TN.
+        fn_objects (List[ObjectType]): List of FN.
     """
-    tn_objects: List[DynamicObject] = []
-    fn_objects: List[DynamicObject] = []
+    tn_objects: List[ObjectType] = []
+    fn_objects: List[ObjectType] = []
 
     non_candidates: List[ObjectType] = []
     for object_result in object_results:
diff --git a/perception_eval/perception_eval/evaluation/result/object_result.py b/perception_eval/perception_eval/evaluation/result/object_result.py
index 4c86fb71..c8a4f4ff 100644
--- a/perception_eval/perception_eval/evaluation/result/object_result.py
+++ b/perception_eval/perception_eval/evaluation/result/object_result.py
@@ -20,13 +20,13 @@
 from typing import Tuple
 
 import numpy as np
-from perception_eval.common import distance_objects
-from perception_eval.common import distance_objects_bev
-from perception_eval.common import DynamicObject
-from perception_eval.common import DynamicObject2D
-from perception_eval.common import ObjectType
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import LabelType
+from perception_eval.common.object import distance_objects
+from perception_eval.common.object import distance_objects_bev
+from perception_eval.common.object import DynamicObject
+from perception_eval.common.object import DynamicObject2D
+from perception_eval.common.object import ObjectType
 from perception_eval.common.status import MatchingStatus
 from perception_eval.common.threshold import get_label_threshold
 from perception_eval.evaluation.matching import CenterDistanceMatching
@@ -64,7 +64,7 @@ def __init__(
             ground_truth_objects (Optional[ObjectType]): The list of Ground truth objects
         """
         if ground_truth_object is not None:
-            assert type(estimated_object) == type(
+            assert type(estimated_object) is type(
                 ground_truth_object
             ), f"Input objects type must be same, but got {type(estimated_object)} and {type(ground_truth_object)}"
 
diff --git a/perception_eval/perception_eval/evaluation/result/perception_frame_result.py b/perception_eval/perception_eval/evaluation/result/perception_frame_result.py
index 5f46d445..d582bd4a 100644
--- a/perception_eval/perception_eval/evaluation/result/perception_frame_result.py
+++ b/perception_eval/perception_eval/evaluation/result/perception_frame_result.py
@@ -18,9 +18,9 @@
 from typing import List
 from typing import Optional
 
-from perception_eval.common import ObjectType
 from perception_eval.common.dataset import FrameGroundTruth
 from perception_eval.common.label import LabelType
+from perception_eval.common.object import ObjectType
 from perception_eval.common.status import GroundTruthStatus
 from perception_eval.common.status import MatchingStatus
 from perception_eval.evaluation import DynamicObjectWithPerceptionResult
diff --git a/perception_eval/perception_eval/evaluation/result/perception_pass_fail_result.py b/perception_eval/perception_eval/evaluation/result/perception_pass_fail_result.py
index faf09e15..5e64049b 100644
--- a/perception_eval/perception_eval/evaluation/result/perception_pass_fail_result.py
+++ b/perception_eval/perception_eval/evaluation/result/perception_pass_fail_result.py
@@ -18,7 +18,7 @@
 import warnings
 
 import numpy as np
-from perception_eval.common import ObjectType
+from perception_eval.common.object import ObjectType
 from perception_eval.evaluation import DynamicObjectWithPerceptionResult
 from perception_eval.evaluation.matching import MatchingMode
 from perception_eval.evaluation.matching.objects_filter import filter_objects
diff --git a/perception_eval/perception_eval/manager/perception_evaluation_manager.py b/perception_eval/perception_eval/manager/perception_evaluation_manager.py
index a10ab63c..2bb70668 100644
--- a/perception_eval/perception_eval/manager/perception_evaluation_manager.py
+++ b/perception_eval/perception_eval/manager/perception_evaluation_manager.py
@@ -16,9 +16,9 @@
 from typing import List
 from typing import Tuple
 
-from perception_eval.common import ObjectType
 from perception_eval.common.dataset import FrameGroundTruth
 from perception_eval.common.label import LabelType
+from perception_eval.common.object import ObjectType
 from perception_eval.config import PerceptionEvaluationConfig
 from perception_eval.evaluation import PerceptionFrameResult
 from perception_eval.evaluation.matching.objects_filter import divide_objects
diff --git a/perception_eval/perception_eval/tool/perception_analyzer2d.py b/perception_eval/perception_eval/tool/perception_analyzer2d.py
index d5370c13..748b7244 100644
--- a/perception_eval/perception_eval/tool/perception_analyzer2d.py
+++ b/perception_eval/perception_eval/tool/perception_analyzer2d.py
@@ -25,7 +25,7 @@
 import numpy as np
 import pandas as pd
 from perception_eval.common.evaluation_task import EvaluationTask
-from perception_eval.common.object2d import DynamicObject2D
+from perception_eval.common.object import DynamicObject2D
 from perception_eval.common.status import MatchingStatus
 from perception_eval.config import PerceptionEvaluationConfig
 from perception_eval.evaluation import DynamicObjectWithPerceptionResult
diff --git a/perception_eval/perception_eval/tool/perception_analyzer_base.py b/perception_eval/perception_eval/tool/perception_analyzer_base.py
index 09efed8a..35b8ae4d 100644
--- a/perception_eval/perception_eval/tool/perception_analyzer_base.py
+++ b/perception_eval/perception_eval/tool/perception_analyzer_base.py
@@ -37,7 +37,7 @@
 import numpy as np
 import pandas as pd
 from perception_eval.common.label import LabelType
-from perception_eval.common.object import DynamicObject
+from perception_eval.common.object import ObjectType
 from perception_eval.common.status import MatchingStatus
 from perception_eval.config import PerceptionEvaluationConfig
 from perception_eval.evaluation import DynamicObjectWithPerceptionResult
@@ -563,7 +563,7 @@ def clear(self) -> None:
 
     def format2df(
         self,
-        object_results: List[Union[DynamicObject, DynamicObjectWithPerceptionResult]],
+        object_results: List[Union[ObjectType, DynamicObjectWithPerceptionResult]],
         status: MatchingStatus,
         frame_num: int,
         start: int = 0,
@@ -572,7 +572,7 @@ def format2df(
         """Format objects to pandas.DataFrame.
 
         Args:
-            object_results (List[Union[DynamicObject, DynamicObjectWithPerceptionResult]]): List of objects or object results.
+            object_results (List[Union[ObjectType, DynamicObjectWithPerceptionResult]]): List of objects or object results.
             status (MatchingStatus): Object's status.
             frame_num (int): Number of frame.
             start (int): Number of the first index. Defaults to 0.
@@ -595,7 +595,7 @@ def format2df(
     @abstractmethod
     def format2dict(
         self,
-        object_result: Union[DynamicObject, DynamicObjectWithPerceptionResult],
+        object_result: Union[ObjectType, DynamicObjectWithPerceptionResult],
         status: MatchingStatus,
         frame_num: int,
         ego2map: Optional[np.ndarray] = None,
@@ -603,7 +603,7 @@ def format2dict(
         """Format objects to dict.
 
         Args:
-            object_results (List[Union[DynamicObject, DynamicObjectWithPerceptionResult]]): List of objects or object results.
+            object_results (List[Union[ObjectType, DynamicObjectWithPerceptionResult]]): List of objects or object results.
             status (MatchingStatus): Object's status.
             frame_num (int): Number of frame.
             ego2map (Optional[np.ndarray]): Matrix to transform from ego coords to map coords. Defaults to None.
diff --git a/perception_eval/perception_eval/util/debug.py b/perception_eval/perception_eval/util/debug.py
index cb7e4208..34fa3c19 100644
--- a/perception_eval/perception_eval/util/debug.py
+++ b/perception_eval/perception_eval/util/debug.py
@@ -24,8 +24,8 @@
 from perception_eval.common.label import Label
 from perception_eval.common.label import LabelType
 from perception_eval.common.label import TrafficLightLabel
-from perception_eval.common.object2d import DynamicObject2D
 from perception_eval.common.object import DynamicObject
+from perception_eval.common.object import DynamicObject2D
 from perception_eval.common.shape import Shape
 from pyquaternion.quaternion import Quaternion
 
diff --git a/perception_eval/perception_eval/visualization/perception_visualizer2d.py b/perception_eval/perception_eval/visualization/perception_visualizer2d.py
index 7785e7dd..4348e273 100644
--- a/perception_eval/perception_eval/visualization/perception_visualizer2d.py
+++ b/perception_eval/perception_eval/visualization/perception_visualizer2d.py
@@ -30,7 +30,7 @@
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import AutowareLabel
 from perception_eval.common.label import TrafficLightLabel
-from perception_eval.common.object2d import DynamicObject2D
+from perception_eval.common.object import DynamicObject2D
 from perception_eval.config import PerceptionEvaluationConfig
 from perception_eval.evaluation import DynamicObjectWithPerceptionResult
 from perception_eval.evaluation import PerceptionFrameResult
diff --git a/perception_eval/test/common/test_object.py b/perception_eval/test/common/test_object.py
index e3108a63..09d24473 100644
--- a/perception_eval/test/common/test_object.py
+++ b/perception_eval/test/common/test_object.py
@@ -19,8 +19,8 @@
 import unittest
 
 import numpy as np
-from perception_eval.common import distance_objects
-from perception_eval.common import distance_objects_bev
+from perception_eval.common.object import distance_objects
+from perception_eval.common.object import distance_objects_bev
 from perception_eval.common.object import DynamicObject
 from perception_eval.util.debug import get_objects_with_difference
 from shapely.geometry import Polygon
diff --git a/perception_eval/test/evaluation/metrics/detection/test_ap.py b/perception_eval/test/evaluation/metrics/detection/test_ap.py
index 5f81263e..1001c763 100644
--- a/perception_eval/test/evaluation/metrics/detection/test_ap.py
+++ b/perception_eval/test/evaluation/metrics/detection/test_ap.py
@@ -24,9 +24,9 @@
 import unittest
 
 import numpy as np
-from perception_eval.common import DynamicObject
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import AutowareLabel
+from perception_eval.common.object import DynamicObject
 from perception_eval.evaluation.matching import MatchingMode
 from perception_eval.evaluation.matching.objects_filter import filter_objects
 from perception_eval.evaluation.metrics.detection.ap import Ap
diff --git a/perception_eval/test/evaluation/metrics/detection/test_map.py b/perception_eval/test/evaluation/metrics/detection/test_map.py
index bfb45461..d9158434 100644
--- a/perception_eval/test/evaluation/metrics/detection/test_map.py
+++ b/perception_eval/test/evaluation/metrics/detection/test_map.py
@@ -19,9 +19,9 @@
 from typing import Tuple
 import unittest
 
-from perception_eval.common import DynamicObject
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import AutowareLabel
+from perception_eval.common.object import DynamicObject
 from perception_eval.evaluation.matching.object_matching import MatchingMode
 from perception_eval.evaluation.matching.objects_filter import divide_objects
 from perception_eval.evaluation.matching.objects_filter import divide_objects_to_num
diff --git a/perception_eval/test/evaluation/metrics/tracking/test_clear.py b/perception_eval/test/evaluation/metrics/tracking/test_clear.py
index 8aeba83c..94bbfb6e 100644
--- a/perception_eval/test/evaluation/metrics/tracking/test_clear.py
+++ b/perception_eval/test/evaluation/metrics/tracking/test_clear.py
@@ -22,9 +22,9 @@
 from typing import Tuple
 import unittest
 
-from perception_eval.common import DynamicObject
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import AutowareLabel
+from perception_eval.common.object import DynamicObject
 from perception_eval.evaluation.matching.object_matching import MatchingMode
 from perception_eval.evaluation.matching.objects_filter import filter_objects
 from perception_eval.evaluation.metrics.tracking.clear import CLEAR
diff --git a/perception_eval/test/evaluation/metrics/tracking/test_tracking_metrics_score.py b/perception_eval/test/evaluation/metrics/tracking/test_tracking_metrics_score.py
index ea719e53..b9345a10 100644
--- a/perception_eval/test/evaluation/metrics/tracking/test_tracking_metrics_score.py
+++ b/perception_eval/test/evaluation/metrics/tracking/test_tracking_metrics_score.py
@@ -21,9 +21,9 @@
 from typing import Tuple
 import unittest
 
-from perception_eval.common import DynamicObject
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import AutowareLabel
+from perception_eval.common.object import DynamicObject
 from perception_eval.evaluation.matching.object_matching import MatchingMode
 from perception_eval.evaluation.matching.objects_filter import divide_objects
 from perception_eval.evaluation.matching.objects_filter import divide_objects_to_num
diff --git a/perception_eval/test/evaluation/result/test_object_result.py b/perception_eval/test/evaluation/result/test_object_result.py
index ca6f5d1b..34b02676 100644
--- a/perception_eval/test/evaluation/result/test_object_result.py
+++ b/perception_eval/test/evaluation/result/test_object_result.py
@@ -19,8 +19,8 @@
 from typing import Tuple
 import unittest
 
-from perception_eval.common import DynamicObject
 from perception_eval.common.evaluation_task import EvaluationTask
+from perception_eval.common.object import DynamicObject
 from perception_eval.evaluation.result.object_result import DynamicObjectWithPerceptionResult
 from perception_eval.evaluation.result.object_result import get_object_results
 from perception_eval.util.debug import get_objects_with_difference
diff --git a/perception_eval/test/perception_fp_validation_lsim.py b/perception_eval/test/perception_fp_validation_lsim.py
index 4865151b..dd5cadcd 100644
--- a/perception_eval/test/perception_fp_validation_lsim.py
+++ b/perception_eval/test/perception_fp_validation_lsim.py
@@ -17,8 +17,8 @@
 import tempfile
 from typing import List
 
-from perception_eval.common import ObjectType
 from perception_eval.common.label import AutowareLabel
+from perception_eval.common.object import ObjectType
 from perception_eval.common.status import get_scene_rates
 from perception_eval.config import PerceptionEvaluationConfig
 from perception_eval.evaluation import get_object_status
diff --git a/perception_eval/test/perception_lsim2d.py b/perception_eval/test/perception_lsim2d.py
index 1bfe0a92..6975cf41 100644
--- a/perception_eval/test/perception_lsim2d.py
+++ b/perception_eval/test/perception_lsim2d.py
@@ -18,7 +18,7 @@
 from typing import List
 from typing import Union
 
-from perception_eval.common.object2d import DynamicObject2D
+from perception_eval.common.object import DynamicObject2D
 from perception_eval.config import PerceptionEvaluationConfig
 from perception_eval.evaluation import PerceptionFrameResult
 from perception_eval.evaluation.metrics import MetricsScore
diff --git a/perception_eval/test/util/dummy_object.py b/perception_eval/test/util/dummy_object.py
index 271947d6..251adc7f 100644
--- a/perception_eval/test/util/dummy_object.py
+++ b/perception_eval/test/util/dummy_object.py
@@ -18,8 +18,8 @@
 
 from perception_eval.common.label import AutowareLabel
 from perception_eval.common.label import Label
-from perception_eval.common.object2d import DynamicObject2D
 from perception_eval.common.object import DynamicObject
+from perception_eval.common.object import DynamicObject2D
 from perception_eval.common.schema import FrameID
 from perception_eval.common.shape import Shape
 from perception_eval.common.shape import ShapeType

From 859e6e90f0ac0eb21f32b1a758ac6c66a4c92885 Mon Sep 17 00:00:00 2001
From: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com>
Date: Tue, 19 Dec 2023 22:03:49 +0900
Subject: [PATCH 2/9] refactor: move module directory (#111)

* refactor: create new directory `object/dataset/result`

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

* refactor: move metrics and  matching modules out of evaluation

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

* docs: fix dead links

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

---------

Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>
---
 docs/en/common.md                             |  8 +--
 docs/en/perception/data_structure.md          |  4 +-
 docs/en/perception/design.md                  |  6 +--
 docs/en/perception/metrics.md                 | 16 +++---
 docs/en/sensing/data_structure.md             |  4 +-
 docs/ja/common.md                             |  8 +--
 docs/ja/perception/data_structure.md          |  4 +-
 docs/ja/perception/design.md                  |  6 +--
 docs/ja/perception/metrics.md                 | 14 +++---
 docs/ja/sensing/data_structure.md             |  4 +-
 docs/ja/sensing/design.md                     |  6 +--
 .../config/_evaluation_config_base.py         |  7 ++-
 .../config/perception_evaluation_config.py    | 12 ++---
 .../{common => }/dataset/__init__.py          |  0
 .../{common => }/dataset/ground_truth.py      | 16 +++---
 .../{common => }/dataset/load.py              |  8 ++-
 .../{common => }/dataset/utils.py             | 13 +++--
 .../perception_eval/evaluation/__init__.py    | 25 ----------
 .../manager/_evaluation_manager_base.py       | 23 ++++++---
 .../manager/perception_evaluation_manager.py  | 41 ++++++++-------
 .../manager/sensing_evaluation_manager.py     | 11 ++--
 .../{evaluation => }/matching/__init__.py     | 12 ++---
 .../matching/object_matching.py               | 11 ++--
 .../matching/objects_filter.py                | 21 +++++---
 .../metrics}/__init__.py                      |  5 ++
 .../metrics/classification/__init__.py        |  0
 .../metrics/classification/accuracy.py        |  8 ++-
 .../classification_metrics_score.py           | 10 ++--
 .../metrics/config/__init__.py                |  0
 .../metrics/config/_metrics_config_base.py    |  9 +++-
 .../config/classification_metrics_config.py   |  7 ++-
 .../config/detection_metrics_config.py        |  7 ++-
 .../config/prediction_metrics_config.py       |  7 ++-
 .../metrics/config/tracking_metrics_config.py |  7 ++-
 .../metrics/detection/__init__.py             |  0
 .../{evaluation => }/metrics/detection/ap.py  | 20 +++++---
 .../{evaluation => }/metrics/detection/map.py | 17 ++++---
 .../metrics/detection/tp_metrics.py           |  7 ++-
 .../{evaluation => }/metrics/metrics.py       | 11 ++--
 .../metrics/metrics_score_config.py           |  0
 .../metrics/prediction/__init__.py            |  0
 .../metrics/tracking/__init__.py              |  0
 .../metrics/tracking/_metrics_base.py         | 13 +++--
 .../metrics/tracking/clear.py                 | 16 ++++--
 .../{evaluation => }/metrics/tracking/hota.py | 17 ++++---
 .../tracking/tracking_metrics_score.py        | 16 +++---
 .../{common => }/object/__init__.py           |  4 +-
 .../{common => }/object/object2d.py           |  0
 .../{common => }/object/object3d.py           |  0
 .../result}/__init__.py                       |  9 ++++
 .../result/perception/__init__.py             | 30 +++++++++++
 .../perception}/perception_frame_config.py    | 10 ++--
 .../perception}/perception_frame_result.py    | 50 ++++++++++---------
 .../perception_pass_fail_result.py            | 36 +++++++------
 .../perception/perception_result.py}          | 49 +++++++++---------
 .../metrics => result/sensing}/__init__.py    |  7 +--
 .../sensing/sensing_frame_config.py           |  0
 .../sensing/sensing_frame_result.py           |  7 +--
 .../sensing/sensing_result.py                 |  2 +-
 .../tool/perception_analyzer2d.py             |  4 +-
 .../tool/perception_analyzer3d.py             |  4 +-
 .../tool/perception_analyzer_base.py          | 12 ++---
 perception_eval/perception_eval/tool/utils.py |  8 +--
 perception_eval/perception_eval/util/debug.py |  4 +-
 .../perception_eval/visualization/eda_tool.py | 12 ++---
 .../visualization/perception_visualizer2d.py  |  6 +--
 .../visualization/perception_visualizer3d.py  |  6 +--
 .../visualization/sensing_visualizer.py       |  6 +--
 perception_eval/test/eda.py                   |  6 +--
 .../evaluation/metrics/prediction/__init__.py | 13 -----
 .../test/evaluation/result/__init__.py        | 13 -----
 .../test/evaluation/sensing/__init__.py       | 13 -----
 .../result => test/matching}/__init__.py      |  0
 .../matching/object_matching}/__init__.py     |  0
 .../object_matching/test_iou_2d_matching.py   |  6 +--
 .../object_matching/test_iou_3d_matching.py   |  8 +--
 .../test_plane_distance_matching.py           |  4 +-
 .../matching/test_objects_filter.py           | 24 ++++-----
 .../test/{evaluation => metrics}/__init__.py  |  0
 .../classification}/__init__.py               |  0
 .../metrics/classification/test_accuracy.py   |  6 +--
 .../test_classification_metrics_score.py      | 10 ++--
 .../detection}/__init__.py                    |  0
 .../metrics/detection/test_ap.py              | 16 +++---
 .../metrics/detection/test_map.py             | 16 +++---
 .../prediction}/__init__.py                   |  0
 .../metrics/test_metrics_score_config.py      | 10 ++--
 .../tracking}/__init__.py                     |  0
 .../metrics/tracking/test_clear.py            | 12 ++---
 .../tracking/test_tracking_metrics_score.py   | 18 +++----
 perception_eval/test/object/__init__.py       |  0
 .../test/{common => object}/test_object.py    |  6 +--
 .../test/perception_field_analysis.py         |  2 -
 .../test/perception_field_points_analysis.py  |  2 +-
 .../test/perception_fp_validation_lsim.py     | 15 ++++--
 perception_eval/test/perception_lsim.py       | 19 ++++---
 perception_eval/test/perception_lsim2d.py     | 15 ++++--
 .../result/test_object_result.py              |  6 +--
 .../sensing => result}/test_sensing_result.py |  2 +-
 perception_eval/test/sensing_lsim.py          |  6 +--
 perception_eval/test/util/dummy_object.py     |  4 +-
 .../test/visualization/test_eda_tool.py       |  8 +--
 102 files changed, 546 insertions(+), 437 deletions(-)
 rename perception_eval/perception_eval/{common => }/dataset/__init__.py (100%)
 rename perception_eval/perception_eval/{common => }/dataset/ground_truth.py (83%)
 rename perception_eval/perception_eval/{common => }/dataset/load.py (97%)
 rename perception_eval/perception_eval/{common => }/dataset/utils.py (98%)
 delete mode 100644 perception_eval/perception_eval/evaluation/__init__.py
 rename perception_eval/perception_eval/{evaluation => }/matching/__init__.py (60%)
 rename perception_eval/perception_eval/{evaluation => }/matching/object_matching.py (98%)
 rename perception_eval/perception_eval/{evaluation => }/matching/objects_filter.py (98%)
 rename perception_eval/{test/evaluation/metrics/detection => perception_eval/metrics}/__init__.py (80%)
 rename perception_eval/perception_eval/{evaluation => }/metrics/classification/__init__.py (100%)
 rename perception_eval/perception_eval/{evaluation => }/metrics/classification/accuracy.py (96%)
 rename perception_eval/perception_eval/{evaluation => }/metrics/classification/classification_metrics_score.py (95%)
 rename perception_eval/perception_eval/{evaluation => }/metrics/config/__init__.py (100%)
 rename perception_eval/perception_eval/{evaluation => }/metrics/config/_metrics_config_base.py (93%)
 rename perception_eval/perception_eval/{evaluation => }/metrics/config/classification_metrics_config.py (94%)
 rename perception_eval/perception_eval/{evaluation => }/metrics/config/detection_metrics_config.py (94%)
 rename perception_eval/perception_eval/{evaluation => }/metrics/config/prediction_metrics_config.py (94%)
 rename perception_eval/perception_eval/{evaluation => }/metrics/config/tracking_metrics_config.py (94%)
 rename perception_eval/perception_eval/{evaluation => }/metrics/detection/__init__.py (100%)
 rename perception_eval/perception_eval/{evaluation => }/metrics/detection/ap.py (96%)
 rename perception_eval/perception_eval/{evaluation => }/metrics/detection/map.py (92%)
 rename perception_eval/perception_eval/{evaluation => }/metrics/detection/tp_metrics.py (96%)
 rename perception_eval/perception_eval/{evaluation => }/metrics/metrics.py (97%)
 rename perception_eval/perception_eval/{evaluation => }/metrics/metrics_score_config.py (100%)
 rename perception_eval/perception_eval/{evaluation => }/metrics/prediction/__init__.py (100%)
 rename perception_eval/perception_eval/{evaluation => }/metrics/tracking/__init__.py (100%)
 rename perception_eval/perception_eval/{evaluation => }/metrics/tracking/_metrics_base.py (95%)
 rename perception_eval/perception_eval/{evaluation => }/metrics/tracking/clear.py (97%)
 rename perception_eval/perception_eval/{evaluation => }/metrics/tracking/hota.py (91%)
 rename perception_eval/perception_eval/{evaluation => }/metrics/tracking/tracking_metrics_score.py (93%)
 rename perception_eval/perception_eval/{common => }/object/__init__.py (94%)
 rename perception_eval/perception_eval/{common => }/object/object2d.py (100%)
 rename perception_eval/perception_eval/{common => }/object/object3d.py (100%)
 rename perception_eval/{test/evaluation/metrics/tracking => perception_eval/result}/__init__.py (66%)
 create mode 100644 perception_eval/perception_eval/result/perception/__init__.py
 rename perception_eval/perception_eval/{evaluation/result => result/perception}/perception_frame_config.py (96%)
 rename perception_eval/perception_eval/{evaluation/result => result/perception}/perception_frame_result.py (82%)
 rename perception_eval/perception_eval/{evaluation/result => result/perception}/perception_pass_fail_result.py (84%)
 rename perception_eval/perception_eval/{evaluation/result/object_result.py => result/perception/perception_result.py} (91%)
 rename perception_eval/perception_eval/{evaluation/metrics => result/sensing}/__init__.py (69%)
 rename perception_eval/perception_eval/{evaluation => result}/sensing/sensing_frame_config.py (100%)
 rename perception_eval/perception_eval/{evaluation => result}/sensing/sensing_frame_result.py (96%)
 rename perception_eval/perception_eval/{evaluation => result}/sensing/sensing_result.py (98%)
 delete mode 100644 perception_eval/test/evaluation/metrics/prediction/__init__.py
 delete mode 100644 perception_eval/test/evaluation/result/__init__.py
 delete mode 100644 perception_eval/test/evaluation/sensing/__init__.py
 rename perception_eval/{perception_eval/evaluation/result => test/matching}/__init__.py (100%)
 rename perception_eval/{perception_eval/evaluation/sensing => test/matching/object_matching}/__init__.py (100%)
 mode change 100644 => 100755
 rename perception_eval/test/{evaluation => }/matching/object_matching/test_iou_2d_matching.py (96%)
 rename perception_eval/test/{evaluation => }/matching/object_matching/test_iou_3d_matching.py (94%)
 rename perception_eval/test/{evaluation => }/matching/object_matching/test_plane_distance_matching.py (97%)
 rename perception_eval/test/{evaluation => }/matching/test_objects_filter.py (97%)
 rename perception_eval/test/{evaluation => metrics}/__init__.py (100%)
 mode change 100644 => 100755
 rename perception_eval/test/{evaluation/matching => metrics/classification}/__init__.py (100%)
 rename perception_eval/test/{evaluation => }/metrics/classification/test_accuracy.py (94%)
 rename perception_eval/test/{evaluation => }/metrics/classification/test_classification_metrics_score.py (88%)
 rename perception_eval/test/{evaluation/matching/object_matching => metrics/detection}/__init__.py (100%)
 mode change 100755 => 100644
 rename perception_eval/test/{evaluation => }/metrics/detection/test_ap.py (98%)
 rename perception_eval/test/{evaluation => }/metrics/detection/test_map.py (98%)
 rename perception_eval/test/{evaluation/metrics => metrics/prediction}/__init__.py (100%)
 mode change 100755 => 100644
 rename perception_eval/test/{evaluation => }/metrics/test_metrics_score_config.py (82%)
 rename perception_eval/test/{evaluation/metrics/classification => metrics/tracking}/__init__.py (100%)
 rename perception_eval/test/{evaluation => }/metrics/tracking/test_clear.py (98%)
 rename perception_eval/test/{evaluation => }/metrics/tracking/test_tracking_metrics_score.py (96%)
 create mode 100644 perception_eval/test/object/__init__.py
 rename perception_eval/test/{common => object}/test_object.py (98%)
 rename perception_eval/test/{evaluation => }/result/test_object_result.py (94%)
 rename perception_eval/test/{evaluation/sensing => result}/test_sensing_result.py (92%)

diff --git a/docs/en/common.md b/docs/en/common.md
index 5bdaf6ae..38c9501a 100644
--- a/docs/en/common.md
+++ b/docs/en/common.md
@@ -1,6 +1,6 @@
 # Common items in Perception and Sensing
 
-## [`<class> DynamicObject(...)`](../../perception_eval/perception_eval/common/object/object3d.py)
+## [`<class> DynamicObject(...)`](../../perception_eval/perception_eval/object/object3d.py)
 
 - Evaluation task: `DETECTION`, `TRACKING`, `PREDICTION`, `SENSING`
 
@@ -27,7 +27,7 @@
 | `predicted_confidence`   |              `float`               | List of predicted confidence.                                              |
 | `visibility`             |       `Optional[Visibility]`       | Visibility status.                                                         |
 
-## [`<class> DynamicObject2D(...)`](../../perception_eval/perception_eval/common/object/object2d.py)
+## [`<class> DynamicObject2D(...)`](../../perception_eval/perception_eval/object/object2d.py)
 
 - Evaluation task: `DETECTION2D`, `TRACING2D`, `CLASSIFICATION2D`
 
@@ -43,7 +43,7 @@
 
 ## Ground truth
 
-### [`<class> FrameGroundTruth(...)`](../../perception_eval/perception_eval/common/dataset/ground_truth.py)
+### [`<class> FrameGroundTruth(...)`](../../perception_eval/perception_eval/dataset/ground_truth.py)
 
 | Argument     |           type            | Description                                                                                             |
 | :----------- | :-----------------------: | :------------------------------------------------------------------------------------------------------ |
@@ -53,7 +53,7 @@
 | `ego2map`    | `Optional[numpy.ndarray]` | 4x4 matrix to transform objects with respect to base_link coordinate system map one. (Defaults to None) |
 | `raw_data`   | `Optional[numpy.ndarray]` | Array of pointcloud/image. (Defaults to None)                                                           |
 
-### [`<func> load_all_datasets(...) -> List[FrameGroundTruth]`](../../perception_eval/perception_eval/common/dataset/load.py)
+### [`<func> load_all_datasets(...) -> List[FrameGroundTruth]`](../../perception_eval/perception_eval/dataset/load.py)
 
 | Argument          |                type                 | Description                                       |
 | :---------------- | :---------------------------------: | :------------------------------------------------ |
diff --git a/docs/en/perception/data_structure.md b/docs/en/perception/data_structure.md
index ea2c956e..0f8b552d 100644
--- a/docs/en/perception/data_structure.md
+++ b/docs/en/perception/data_structure.md
@@ -32,7 +32,7 @@
 
 ### `<class> PerceptionFrameResult(...)`
 
-For the details, see [perception_eval/evaluation/result/perception_frame_result.py](../../../perception_eval/perception_eval/evaluation/result/perception_frame_result.py)
+For the details, see [perception_eval/result/perception/perception_frame_result.py](../../../perception_eval/perception_eval/result/perception/perception_frame_result.py)
 
 - Initialization
 
@@ -118,7 +118,7 @@ For the details, see [perception_eval/evaluation/result/perception_frame_result.
 
 Call `<func> get_object_results(...)` function to generate a set of matching pairs `List[DynamicObjectWithPerceptionResult]` from a set of Estimated objects `List[ObjectType]`and a set of GT objects `List[ObjectType]`.
 
-For the details，see [perception_eval/evaluation/result/object_result.py](../../../perception_eval/perception_eval/evaluation/result/object_result.py)
+For the details，see [perception_eval/result/perception/perception_result.py](../../../perception_eval/perception_eval/result/perception/perception_result.py)
 
 ```python
 from perception_eval.evaluation.result.object_results import get_object_results
diff --git a/docs/en/perception/design.md b/docs/en/perception/design.md
index e49a4a47..1c89b0ba 100644
--- a/docs/en/perception/design.md
+++ b/docs/en/perception/design.md
@@ -203,7 +203,7 @@
 
   - **4. Specify parameters besides parameters of `MetricsConfig`**
 
-    - About each MetricsConfig，see [perception_eval/evaluation/metrics/config](../../../perception_eval/perception_eval/evaluation/metrics/config/)
+    - About each MetricsConfig，see [perception_eval/metrics/config](../../../perception_eval/perception_eval/metrics/config/)
 
     ```python
     evaluation_config_dict = {
@@ -236,7 +236,7 @@
 
 - An interface to determine target objects dynamically
 - Specify in every frame, not in initialization of `PerceptionEvaluationManger`
-- See [perception_eval/evaluation/result/perception_frame_config](../../../perception_eval/perception_eval/evaluation/result/perception_frame_config.py)
+- See [perception_eval/result/perception/perception_frame_config](../../../perception_eval/perception_eval/result/perception/perception_frame_config.py)
 
 | Arguments                   |             type             |    Mandatory    | Description                                                                                                     |
 | :-------------------------- | :--------------------------: | :-------------: | :-------------------------------------------------------------------------------------------------------------- |
@@ -257,7 +257,7 @@
 
 - A class to decide Pass / Fail. For Pass/Fail decision, determine TP/FP by **Plane distance**.
 - Specify in every frame, not in initializing `PerceptionEvaluationManager`.
-- For the details, see [perception_eval/evaluation/result/perception_frame_config](../../../perception_eval/perception_eval/evaluation/result/perception_frame_config.py).
+- For the details, see [perception_eval/result/perception/perception_frame_config](../../../perception_eval/perception_eval/result/perception/perception_frame_config.py).
 
 | Arguments                 |             type             | Mandatory | Description                                                                                                            |
 | :------------------------ | :--------------------------: | :-------: | :--------------------------------------------------------------------------------------------------------------------- |
diff --git a/docs/en/perception/metrics.md b/docs/en/perception/metrics.md
index 8a8db4f2..d4cb1c2f 100644
--- a/docs/en/perception/metrics.md
+++ b/docs/en/perception/metrics.md
@@ -1,6 +1,6 @@
 # Perception Evaluation Metrics
 
-## [`<class> MetricsScore(...)`](../../../perception_eval/perception_eval/evaluation/metrics/metrics.py)
+## [`<class> MetricsScore(...)`](../../../perception_eval/perception_eval/metrics/metrics.py)
 
 - A class to evaluate each of detection/tracking/prediction task
 
@@ -10,10 +10,10 @@
 
 - Initialize `detection/tracking/prediction_config` from input MetricsConfig
 
-  - [`detection_config (DetectionMetricsConfig)`](../../../perception_eval/perception_eval/evaluation/metrics/config/detection_metrics_config.py)
-  - [`tracking_config (TrackingMetricsConfig)`](../../../perception_eval/perception_eval/evaluation/metrics/config/tracking_metrics_config.py)
-  - [`prediction_config (PredictionMetricsConfig)`](../../../perception_eval/perception_eval/evaluation/metrics/config/prediction_metrics_config.py)
-  - [`classification_config (ClassificationMetricsConfig)`](../../../perception_eval/perception_eval/evaluation/metrics/config/classification_metrics_config.py)
+  - [`detection_config (DetectionMetricsConfig)`](../../../perception_eval/perception_eval/metrics/config/detection_metrics_config.py)
+  - [`tracking_config (TrackingMetricsConfig)`](../../../perception_eval/perception_eval/metrics/config/tracking_metrics_config.py)
+  - [`prediction_config (PredictionMetricsConfig)`](../../../perception_eval/perception_eval/metrics/config/prediction_metrics_config.py)
+  - [`classification_config (ClassificationMetricsConfig)`](../../../perception_eval/perception_eval/metrics/config/classification_metrics_config.py)
 
 - Calculate each metrics based on each config
 
@@ -77,7 +77,7 @@
 
 ## Detection
 
-### [`<class> Map(...)`](../../../perception_eval/perception_eval/evaluation/metrics/detection/map.py)
+### [`<class> Map(...)`](../../../perception_eval/perception_eval/metrics/detection/map.py)
 
 - A class to calculate mAP (mean Average Prevision)
 
@@ -252,7 +252,7 @@
 ## Matching
 
 - A class of the way of matching estimation and GT
-  - For the details, see [perception_eval/evaluation/matching/object_matching.py](../../../perception_eval/perception_eval/evaluation/matching/object_matching.py)
+  - For the details, see [perception_eval/evaluation/matching/object_matching.py](../../../perception_eval/perception_eval/matching/object_matching.py)
 
 | Matching Method    | Value                                                                 |
 | ------------------ | --------------------------------------------------------------------- |
@@ -296,7 +296,7 @@
 ## TP Metrics
 
 - A class to return TP value
-  - For the details，see [perception_eval/evaluation/metrics/detection/tp_metrics.py](../../../perception_eval/perception_eval/evaluation/metrics/detection/tp_metrics.py)
+  - For the details，see [perception_eval/evaluation/metrics/detection/tp_metrics.py](../../../perception_eval/perception_eval/metrics/detection/tp_metrics.py)
 
 | TP Metrics          | Value                                      |
 | ------------------- | ------------------------------------------ |
diff --git a/docs/en/sensing/data_structure.md b/docs/en/sensing/data_structure.md
index b30db7af..c5fb551e 100644
--- a/docs/en/sensing/data_structure.md
+++ b/docs/en/sensing/data_structure.md
@@ -48,7 +48,7 @@
 ### `<class> SensingFrameResult(...)`
 
 Sensing result for pointcloud in detection/non-detection area at one frame.
-For the details, see [perception_eval/evaluation/sensing/sensing_frame_result.py](../../../perception_eval/perception_eval/evaluation/sensing/sensing_frame_result.py)
+For the details, see [perception_eval/result/sensing/sensing_frame_result.py](../../../perception_eval/perception_eval/result/sensing/sensing_frame_result.py)
 
 | Argument               |         type         | Description             |
 | :--------------------- | :------------------: | :---------------------- |
@@ -76,7 +76,7 @@ Evaluate false position pointcloud detection in detection/non-detection area.
 ### `<class> DynamicObjectWithSensingResult(...)`
 
 Sensing result for one GT.
-For the details, see [perception_eval/evaluation/sensing/sensing_result.py](../../../perception_eval/perception_eval/evaluation/sensing/sensing_result.py)
+For the details, see [perception_eval/result/sensing/sensing_result.py](../../../perception_eval/perception_eval/result/sensing/sensing_result.py)
 
 | Argument                       |         type          | Description                                   |
 | :----------------------------- | :-------------------: | :-------------------------------------------- |
diff --git a/docs/ja/common.md b/docs/ja/common.md
index d0d33a8d..922665da 100644
--- a/docs/ja/common.md
+++ b/docs/ja/common.md
@@ -1,6 +1,6 @@
 # Common items in Perception and Sensing
 
-## [`<class> DynamicObject(...)`](../../perception_eval/perception_eval/common/object/object3d.py)
+## [`<class> DynamicObject(...)`](../../perception_eval/perception_eval/object/object3d.py)
 
 3 次元オブジェクトのクラス．
 
@@ -29,7 +29,7 @@
 | `predicted_confidence`   |              `Optional[float]`               | 予測状態の信頼度. (Default: None)                                       |
 | `visibility`             |            `Optional[Visibility]`            | 視認性のステータス. (Default: None)                                     |
 
-## [`<class> DynamicObject2D(...)`](../../perception_eval/perception_eval/common/object/object2d.py)
+## [`<class> DynamicObject2D(...)`](../../perception_eval/perception_eval/object/object2d.py)
 
 2 次元オブジェクトのクラス．
 
@@ -47,7 +47,7 @@
 
 ## Ground truth
 
-### [`<class> FrameGroundTruth(...)`](../../perception_eval/perception_eval/common/dataset/ground_truth.py)
+### [`<class> FrameGroundTruth(...)`](../../perception_eval/perception_eval/dataset/ground_truth.py)
 
 フレームごとの GT オブジェクトの集合のクラス．
 
@@ -59,7 +59,7 @@
 | `ego2map`    | `Optional[numpy.ndarray]` | オブジェクトの座標系を base_link から map に変換する 4x4 行列. (Default: None) |
 | `raw_data`   | `Optional[numpy.ndarray]` | 点群または画像. (Default: None)                                                |
 
-### [`<func> load_all_datasets(...) -> List[FrameGroundTruth]`](../../perception_eval/perception_eval/common/dataset/load.py)
+### [`<func> load_all_datasets(...) -> List[FrameGroundTruth]`](../../perception_eval/perception_eval/dataset/load.py)
 
 データセットをロードする関数．
 
diff --git a/docs/ja/perception/data_structure.md b/docs/ja/perception/data_structure.md
index 25be3eb7..c4f5cf47 100644
--- a/docs/ja/perception/data_structure.md
+++ b/docs/ja/perception/data_structure.md
@@ -33,7 +33,7 @@
 
 ## Frame 単位でのデータ構造
 
-### [`<class> PerceptionFrameResult(...)`](../../../perception_eval/perception_eval/evaluation/result/perception_frame_result.py)
+### [`<class> PerceptionFrameResult(...)`](../../../perception_eval/perception_eval/result/perception/perception_frame_result.py)
 
 - Initialization
 
@@ -127,7 +127,7 @@
 
 ## Object 単位でのデータ構造
 
-### [`<class> DynamicObjectWithPerceptionResult(...)`](../../../perception_eval/perception_eval/evaluation/result/object_result.py)
+### [`<class> DynamicObjectWithPerceptionResult(...)`](../../../perception_eval/perception_eval/result/perception/perception_result.py)
 
 推定オブジェクトの集合`List[ObjectType]`と GT オブジェクトの集合`List[ObjectType]`からマッチングペアの集合`List[DynamicObjectWithPerceptionResult]`を得るには，`get_object_results()`関数を使う．
 
diff --git a/docs/ja/perception/design.md b/docs/ja/perception/design.md
index f526c08d..74bda1c0 100644
--- a/docs/ja/perception/design.md
+++ b/docs/ja/perception/design.md
@@ -219,7 +219,7 @@ json_result = json.dump(dict_result)
 
   - **4. TP/FP/FN 判定用のパラメータに各 `MetricsConfig` の引数以外ものを設定した場合**
 
-    - 各 MetricsConfig は，[perception_eval/evaluation/metrics/config](../../../perception_eval/perception_eval/evaluation/metrics/config/)を参考
+    - 各 MetricsConfig は，[perception_eval/metrics/config](../../../perception_eval/perception_eval/metrics/config/)を参考
 
     ```python
     evaluation_config_dict = {
@@ -248,7 +248,7 @@ json_result = json.dump(dict_result)
         Usage: {'plane_distance_thresholds', 'iou_3d_thresholds', 'center_distance_thresholds', 'target_labels', 'iou_bev_thresholds'}
     ```
 
-### [`<class> CriticalObjectFilterConfig(...)`](../../../perception_eval/perception_eval/evaluation/result/perception_frame_config.py)
+### [`<class> CriticalObjectFilterConfig(...)`](../../../perception_eval/perception_eval/result/perception/perception_frame_config.py)
 
 - 注目物体を動的決定するためのインターフェイス．
 - `PerceptionEvaluationManger`の初期化時ではなく，各フレーム毎(=callback)に指定する．
@@ -268,7 +268,7 @@ json_result = json.dump(dict_result)
 
 \* **max_x/y_position**，**max/min_distance**についてはどちらか片方のみ指定する必要がある．
 
-### [`<class> PerceptionPassFailConfig(...)`](../../../perception_eval/perception_eval/evaluation/result/perception_frame_config.py)
+### [`<class> PerceptionPassFailConfig(...)`](../../../perception_eval/perception_eval/result/perception/perception_frame_config.py)
 
 - Pass / Fail を決めるためのパラメータ. Pass/Fail の判定については，**Plane distance**によって TP/FP の判定を行う．
 - `PerceptionEvaluationManger`の初期化時ではなく，各フレーム毎(=callback)に指定する．
diff --git a/docs/ja/perception/metrics.md b/docs/ja/perception/metrics.md
index fc560f02..e945a854 100644
--- a/docs/ja/perception/metrics.md
+++ b/docs/ja/perception/metrics.md
@@ -1,6 +1,6 @@
 # Perception Evaluation Metrics
 
-## [`<class> MetricsScore(...)`](../../../perception_eval/perception_eval/evaluation/metrics/metrics.py)
+## [`<class> MetricsScore(...)`](../../../perception_eval/perception_eval/metrics/metrics.py)
 
 - detection/tracking/prediction の各評価指標を実行する class
 
@@ -10,9 +10,9 @@
 
 - 入力された MetricsScoreConfig から，`detection/tracking/prediction_config`を生成
 
-  - [`detection_config (DetectionMetricsConfig)`](../../../perception_eval/perception_eval/evaluation/metrics/config/detection_metrics_config.py)
-  - [`tracking_config (TrackingMetricsConfig)`](../../../perception_eval/perception_eval/evaluation/metrics/config/tracking_metrics_config.py)
-  - [`prediction_config (PredictionMetricsConfig)`](../../../perception_eval/perception_eval/evaluation/metrics/config/prediction_metrics_config.py)
+  - [`detection_config (DetectionMetricsConfig)`](../../../perception_eval/perception_eval/metrics/config/detection_metrics_config.py)
+  - [`tracking_config (TrackingMetricsConfig)`](../../../perception_eval/perception_eval/metrics/config/tracking_metrics_config.py)
+  - [`prediction_config (PredictionMetricsConfig)`](../../../perception_eval/perception_eval/metrics/config/prediction_metrics_config.py)
 
 - 各 config をもとにそれぞれの Metrics が計算される．
 
@@ -76,7 +76,7 @@
 
 ## Detection
 
-### [`<class> Map(...)`](../../../perception_eval/perception_eval/evaluation/metrics/detection/map.py)
+### [`<class> Map(...)`](../../../perception_eval/perception_eval/metrics/detection/map.py)
 
 - mAP (mean Average Precision) のスコア計算を行う class．
 
@@ -249,7 +249,7 @@
 ## Matching
 
 - 予測 object と Ground Truth のマッチング方式の class
-  - 詳細は，[perception_eval/evaluation/matching/object_matching.py](../../../perception_eval/perception_eval/evaluation/matching/object_matching.py)を参照
+  - 詳細は，[perception_eval/evaluation/matching/object_matching.py](../../../perception_eval/perception_eval/matching/object_matching.py)を参照
 
 | Matching Method    | Value                                                                 |
 | ------------------ | --------------------------------------------------------------------- |
@@ -295,7 +295,7 @@
 ## TP Metrics
 
 - True Positive 時の値を返す class
-  - 詳細は，[perception_eval/evaluation/metrics/detection/tp_metrics.py](../../../perception_eval/perception_eval/evaluation/metrics/detection/tp_metrics.py)を参照
+  - 詳細は，[perception_eval/evaluation/metrics/detection/tp_metrics.py](../../../perception_eval/perception_eval/metrics/detection/tp_metrics.py)を参照
 
 | TP Metrics          | Value                         |
 | ------------------- | ----------------------------- |
diff --git a/docs/ja/sensing/data_structure.md b/docs/ja/sensing/data_structure.md
index a9abbddd..81e80fe1 100644
--- a/docs/ja/sensing/data_structure.md
+++ b/docs/ja/sensing/data_structure.md
@@ -50,7 +50,7 @@
 
 ### SensingFrameResult
 
-1 frame に対しての検出・非検出対象エリアに対する点群のセンシング結果[(参照)](../../../perception_eval/perception_eval/evaluation/sensing/sensing_frame_result.py)
+1 frame に対しての検出・非検出対象エリアに対する点群のセンシング結果[(参照)](../../../perception_eval/perception_eval/result/sensing/sensing_frame_result.py)
 
 | Argument               |         type         | Description    |
 | :--------------------- | :------------------: | :------------- |
@@ -76,7 +76,7 @@
 
 ### DynamicObjectWithSensingResult
 
-1 つの GT オブジェクト（アノテーションされた bounding box）に対しての結果[(参照)](../../../perception_eval/perception_eval/evaluation/sensing/sensing_result.py)
+1 つの GT オブジェクト（アノテーションされた bounding box）に対しての結果[(参照)](../../../perception_eval/perception_eval/result/sensing/sensing_result.py)
 
 | Argument                       |         type          | Description                    |
 | :----------------------------- | :-------------------: | :----------------------------- |
diff --git a/docs/ja/sensing/design.md b/docs/ja/sensing/design.md
index a61c5984..c6ee4958 100644
--- a/docs/ja/sensing/design.md
+++ b/docs/ja/sensing/design.md
@@ -36,7 +36,7 @@
 
 ### Frame 単位でのデータ構造
 
-- SensingFrameResult: 1 frame に対しての検出・非検出対象エリアに対する点群のセンシング結果[(参照)](../../../perception_eval/perception_eval/evaluation/sensing/sensing_frame_result.py)
+- SensingFrameResult: 1 frame に対しての検出・非検出対象エリアに対する点群のセンシング結果[(参照)](../../../perception_eval/perception_eval/result/sensing/sensing_frame_result.py)
 
   ```txt
     Arguments:
@@ -65,7 +65,7 @@
 
   メソッドを呼ぶことで評価が実行される．
 
-- SensingFrameConfig: Frame 単位での評価用の config[(参照)](../../../perception_eval/perception_eval/evaluation/sensing/sensing_frame_config.py)
+- SensingFrameConfig: Frame 単位での評価用の config[(参照)](../../../perception_eval/perception_eval/result/sensing/sensing_frame_config.py)
 
   ```txt
     Arguments:
@@ -83,7 +83,7 @@
 
 ### Object 単位でのデータ構造
 
-- DynamicObjectWithSensingResult: 1 ground truth object（アノテーションされた bounding box）に対しての結果[(参照)](../../../perception_eval/perception_eval/evaluation/sensing/sensing_result.py)
+- DynamicObjectWithSensingResult: 1 ground truth object（アノテーションされた bounding box）に対しての結果[(参照)](../../../perception_eval/perception_eval/result/sensing/sensing_result.py)
 
   ```txt
     Arguments:
diff --git a/perception_eval/perception_eval/config/_evaluation_config_base.py b/perception_eval/perception_eval/config/_evaluation_config_base.py
index 3fa67b96..7138eab0 100644
--- a/perception_eval/perception_eval/config/_evaluation_config_base.py
+++ b/perception_eval/perception_eval/config/_evaluation_config_base.py
@@ -12,6 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 from abc import ABC
 from abc import abstractmethod
 import datetime
@@ -22,13 +24,16 @@
 from typing import List
 from typing import Sequence
 from typing import Tuple
+from typing import TYPE_CHECKING
 from typing import Union
 
-from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.evaluation_task import set_task
 from perception_eval.common.label import LabelConverter
 from perception_eval.common.schema import FrameID
 
+if TYPE_CHECKING:
+    from perception_eval.common.evaluation_task import EvaluationTask
+
 
 class _EvaluationConfigBase(ABC):
     """Abstract base class for evaluation config
diff --git a/perception_eval/perception_eval/config/perception_evaluation_config.py b/perception_eval/perception_eval/config/perception_evaluation_config.py
index d43a69f0..ccc010d9 100644
--- a/perception_eval/perception_eval/config/perception_evaluation_config.py
+++ b/perception_eval/perception_eval/config/perception_evaluation_config.py
@@ -18,16 +18,19 @@
 from typing import Optional
 from typing import Sequence
 from typing import Tuple
+from typing import TYPE_CHECKING
 from typing import Union
 
 from perception_eval.common.evaluation_task import EvaluationTask
-from perception_eval.common.label import LabelType
 from perception_eval.common.label import set_target_lists
 from perception_eval.common.threshold import set_thresholds
-from perception_eval.evaluation.metrics import MetricsScoreConfig
+from perception_eval.metrics import MetricsScoreConfig
 
 from ._evaluation_config_base import _EvaluationConfigBase
 
+if TYPE_CHECKING:
+    from perception_eval.common.label import LabelType
+
 
 class PerceptionEvaluationConfig(_EvaluationConfigBase):
     """Configuration class for perception evaluation.
@@ -87,10 +90,7 @@ def __init__(
             load_raw_data=load_raw_data,
         )
 
-        self.metrics_config: MetricsScoreConfig = MetricsScoreConfig(
-            self.evaluation_task,
-            **self.metrics_params,
-        )
+        self.metrics_config = MetricsScoreConfig(self.evaluation_task, **self.metrics_params)
 
     @staticmethod
     def _extract_label_params(evaluation_config_dict: Dict[str, Any]) -> Dict[str, Any]:
diff --git a/perception_eval/perception_eval/common/dataset/__init__.py b/perception_eval/perception_eval/dataset/__init__.py
similarity index 100%
rename from perception_eval/perception_eval/common/dataset/__init__.py
rename to perception_eval/perception_eval/dataset/__init__.py
diff --git a/perception_eval/perception_eval/common/dataset/ground_truth.py b/perception_eval/perception_eval/dataset/ground_truth.py
similarity index 83%
rename from perception_eval/perception_eval/common/dataset/ground_truth.py
rename to perception_eval/perception_eval/dataset/ground_truth.py
index 9fd0e857..38d5a210 100644
--- a/perception_eval/perception_eval/common/dataset/ground_truth.py
+++ b/perception_eval/perception_eval/dataset/ground_truth.py
@@ -1,10 +1,14 @@
+from __future__ import annotations
+
 from typing import Dict
 from typing import List
 from typing import Optional
+from typing import TYPE_CHECKING
 
 import numpy as np
 
-from ..object import ObjectType
+if TYPE_CHECKING:
+    from perception_eval.object import ObjectType
 
 
 class FrameGroundTruth:
@@ -40,8 +44,8 @@ def __init__(
         ego2map: Optional[np.ndarray] = None,
         raw_data: Optional[Dict[str, np.ndarray]] = None,
     ) -> None:
-        self.unix_time: int = unix_time
-        self.frame_name: str = frame_name
-        self.objects: List[ObjectType] = objects
-        self.ego2map: Optional[np.ndarray] = ego2map
-        self.raw_data: Optional[Dict[str, np.ndarray]] = raw_data
+        self.unix_time = unix_time
+        self.frame_name = frame_name
+        self.objects = objects
+        self.ego2map = ego2map
+        self.raw_data = raw_data
diff --git a/perception_eval/perception_eval/common/dataset/load.py b/perception_eval/perception_eval/dataset/load.py
similarity index 97%
rename from perception_eval/perception_eval/common/dataset/load.py
rename to perception_eval/perception_eval/dataset/load.py
index 16602822..a60eac8a 100644
--- a/perception_eval/perception_eval/common/dataset/load.py
+++ b/perception_eval/perception_eval/dataset/load.py
@@ -11,19 +11,19 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+from __future__ import annotations
 
 import logging
 from typing import Any
 from typing import List
 from typing import Optional
 from typing import Sequence
+from typing import TYPE_CHECKING
 from typing import Union
 
 from nuimages import NuImages
 from nuscenes.nuscenes import NuScenes
 from nuscenes.prediction.helper import PredictHelper
-from perception_eval.common.evaluation_task import EvaluationTask
-from perception_eval.common.label import LabelConverter
 from perception_eval.common.schema import FrameID
 from tqdm import tqdm
 
@@ -31,6 +31,10 @@
 from .utils import _sample_to_frame
 from .utils import _sample_to_frame_2d
 
+if TYPE_CHECKING:
+    from perception_eval.common.evaluation_task import EvaluationTask
+    from perception_eval.common.label import LabelConverter
+
 
 def load_all_datasets(
     dataset_paths: List[str],
diff --git a/perception_eval/perception_eval/common/dataset/utils.py b/perception_eval/perception_eval/dataset/utils.py
similarity index 98%
rename from perception_eval/perception_eval/common/dataset/utils.py
rename to perception_eval/perception_eval/dataset/utils.py
index d5b25aec..f8205d85 100644
--- a/perception_eval/perception_eval/common/dataset/utils.py
+++ b/perception_eval/perception_eval/dataset/utils.py
@@ -20,6 +20,7 @@
 from typing import Optional
 from typing import Sequence
 from typing import Tuple
+from typing import TYPE_CHECKING
 from typing import Union
 
 from nuimages import NuImages
@@ -28,21 +29,23 @@
 from nuscenes.prediction.helper import PredictHelper
 from nuscenes.utils.data_classes import Box
 from perception_eval.common.evaluation_task import EvaluationTask
-from perception_eval.common.label import Label
-from perception_eval.common.label import LabelConverter
-from perception_eval.common.label import LabelType
 from perception_eval.common.label import TrafficLightLabel
-from perception_eval.common.object import DynamicObject
-from perception_eval.common.object import DynamicObject2D
 from perception_eval.common.schema import FrameID
 from perception_eval.common.schema import Visibility
 from perception_eval.common.shape import Shape
 from perception_eval.common.shape import ShapeType
+from perception_eval.object import DynamicObject
+from perception_eval.object import DynamicObject2D
 from PIL import Image
 from pyquaternion.quaternion import Quaternion
 
 from .load import FrameGroundTruth
 
+if TYPE_CHECKING:
+    from perception_eval.common.label import Label
+    from perception_eval.common.label import LabelConverter
+    from perception_eval.common.label import LabelType
+
 #################################
 #           Dataset 3D          #
 #################################
diff --git a/perception_eval/perception_eval/evaluation/__init__.py b/perception_eval/perception_eval/evaluation/__init__.py
deleted file mode 100644
index 97cb7e05..00000000
--- a/perception_eval/perception_eval/evaluation/__init__.py
+++ /dev/null
@@ -1,25 +0,0 @@
-# Copyright 2022 TIER IV, Inc.
-
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-
-#     http://www.apache.org/licenses/LICENSE-2.0
-
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from typing import Union
-
-from perception_eval.evaluation.result.object_result import DynamicObjectWithPerceptionResult
-from perception_eval.evaluation.result.perception_frame_result import get_object_status  # noqa
-from perception_eval.evaluation.result.perception_frame_result import PerceptionFrameResult
-from perception_eval.evaluation.sensing.sensing_frame_result import SensingFrameResult
-from perception_eval.evaluation.sensing.sensing_result import DynamicObjectWithSensingResult
-
-# type aliases
-ObjectResultType = Union[DynamicObjectWithPerceptionResult, DynamicObjectWithSensingResult]
-FrameResultType = Union[PerceptionFrameResult, SensingFrameResult]
diff --git a/perception_eval/perception_eval/manager/_evaluation_manager_base.py b/perception_eval/perception_eval/manager/_evaluation_manager_base.py
index 8a16abee..040257a0 100644
--- a/perception_eval/perception_eval/manager/_evaluation_manager_base.py
+++ b/perception_eval/perception_eval/manager/_evaluation_manager_base.py
@@ -12,17 +12,22 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 from abc import ABC
 from abc import abstractmethod
 from typing import List
 from typing import Optional
+from typing import TYPE_CHECKING
+
+from perception_eval.dataset import get_now_frame
+from perception_eval.dataset import load_all_datasets
 
-from perception_eval.common.dataset import FrameGroundTruth
-from perception_eval.common.dataset import get_now_frame
-from perception_eval.common.dataset import load_all_datasets
-from perception_eval.config import EvaluationConfigType
-from perception_eval.evaluation import FrameResultType
-from perception_eval.visualization import VisualizerType
+if TYPE_CHECKING:
+    from perception_eval.config import EvaluationConfigType
+    from perception_eval.dataset import FrameGroundTruth
+    from perception_eval.result import FrameResultType
+    from perception_eval.visualization import VisualizerType
 
 
 class _EvaluationMangerBase(ABC):
@@ -44,7 +49,7 @@ def __init__(
         super().__init__()
 
         self.evaluator_config = evaluation_config
-        self.ground_truth_frames: List[FrameGroundTruth] = load_all_datasets(
+        self.ground_truth_frames = load_all_datasets(
             dataset_paths=self.evaluator_config.dataset_paths,
             evaluation_task=self.evaluator_config.evaluation_task,
             label_converter=self.evaluator_config.label_converter,
@@ -52,6 +57,8 @@ def __init__(
             load_raw_data=self.evaluator_config.load_raw_data,
         )
 
+        self.frame_results: List[FrameResultType] = []
+
     @property
     def evaluation_task(self):
         return self.evaluator_config.evaluation_task
@@ -104,7 +111,7 @@ def get_ground_truth_now_frame(
             Optional[FrameGroundTruth]: FrameGroundTruth instance at current frame.
                 If there is no corresponding ground truth, returns None.
         """
-        ground_truth_now_frame: FrameGroundTruth = get_now_frame(
+        ground_truth_now_frame = get_now_frame(
             ground_truth_frames=self.ground_truth_frames,
             unix_time=unix_time,
             threshold_min_time=threshold_min_time,
diff --git a/perception_eval/perception_eval/manager/perception_evaluation_manager.py b/perception_eval/perception_eval/manager/perception_evaluation_manager.py
index 2bb70668..c43d576a 100644
--- a/perception_eval/perception_eval/manager/perception_evaluation_manager.py
+++ b/perception_eval/perception_eval/manager/perception_evaluation_manager.py
@@ -12,29 +12,33 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
 
 from typing import List
 from typing import Tuple
-
-from perception_eval.common.dataset import FrameGroundTruth
-from perception_eval.common.label import LabelType
-from perception_eval.common.object import ObjectType
-from perception_eval.config import PerceptionEvaluationConfig
-from perception_eval.evaluation import PerceptionFrameResult
-from perception_eval.evaluation.matching.objects_filter import divide_objects
-from perception_eval.evaluation.matching.objects_filter import divide_objects_to_num
-from perception_eval.evaluation.matching.objects_filter import filter_object_results
-from perception_eval.evaluation.matching.objects_filter import filter_objects
-from perception_eval.evaluation.metrics import MetricsScore
-from perception_eval.evaluation.result.perception_frame_config import CriticalObjectFilterConfig
-from perception_eval.evaluation.result.perception_frame_config import PerceptionPassFailConfig
+from typing import TYPE_CHECKING
+
+from perception_eval.matching.objects_filter import divide_objects
+from perception_eval.matching.objects_filter import divide_objects_to_num
+from perception_eval.matching.objects_filter import filter_object_results
+from perception_eval.matching.objects_filter import filter_objects
+from perception_eval.metrics import MetricsScore
+from perception_eval.result import get_object_results
+from perception_eval.result import PerceptionFrameResult
 from perception_eval.visualization import PerceptionVisualizer2D
 from perception_eval.visualization import PerceptionVisualizer3D
-from perception_eval.visualization import PerceptionVisualizerType
 
 from ._evaluation_manager_base import _EvaluationMangerBase
-from ..evaluation.result.object_result import DynamicObjectWithPerceptionResult
-from ..evaluation.result.object_result import get_object_results
+
+if TYPE_CHECKING:
+    from perception_eval.common.label import LabelType
+    from perception_eval.config import PerceptionEvaluationConfig
+    from perception_eval.dataset import FrameGroundTruth
+    from perception_eval.object import ObjectType
+    from perception_eval.result import CriticalObjectFilterConfig
+    from perception_eval.result import DynamicObjectWithPerceptionResult
+    from perception_eval.result import PerceptionPassFailConfig
+    from perception_eval.visualization import PerceptionVisualizerType
 
 
 class PerceptionEvaluationManager(_EvaluationMangerBase):
@@ -57,7 +61,6 @@ def __init__(
         evaluation_config: PerceptionEvaluationConfig,
     ) -> None:
         super().__init__(evaluation_config=evaluation_config)
-        self.frame_results: List[PerceptionFrameResult] = []
         self.__visualizer = (
             PerceptionVisualizer2D(self.evaluator_config)
             if self.evaluation_task.is_2d()
@@ -167,7 +170,7 @@ def _filter_objects(
             **self.filtering_params,
         )
 
-        object_results: List[DynamicObjectWithPerceptionResult] = get_object_results(
+        object_results = get_object_results(
             evaluation_task=self.evaluation_task,
             estimated_objects=estimated_objects,
             ground_truth_objects=frame_ground_truth.objects,
@@ -204,7 +207,7 @@ def get_scene_result(self) -> MetricsScore:
             used_frame.append(int(frame.frame_name))
 
         # Calculate score
-        scene_metrics_score: MetricsScore = MetricsScore(
+        scene_metrics_score = MetricsScore(
             config=self.metrics_config,
             used_frame=used_frame,
         )
diff --git a/perception_eval/perception_eval/manager/sensing_evaluation_manager.py b/perception_eval/perception_eval/manager/sensing_evaluation_manager.py
index 88f5f529..0a4b8c39 100644
--- a/perception_eval/perception_eval/manager/sensing_evaluation_manager.py
+++ b/perception_eval/perception_eval/manager/sensing_evaluation_manager.py
@@ -17,13 +17,13 @@
 from typing import Tuple
 
 import numpy as np
-from perception_eval.common.dataset import FrameGroundTruth
-from perception_eval.common.object import DynamicObject
 from perception_eval.common.point import crop_pointcloud
 from perception_eval.config import SensingEvaluationConfig
-from perception_eval.evaluation import SensingFrameResult
-from perception_eval.evaluation.matching.objects_filter import filter_objects
-from perception_eval.evaluation.sensing.sensing_frame_config import SensingFrameConfig
+from perception_eval.dataset import FrameGroundTruth
+from perception_eval.matching.objects_filter import filter_objects
+from perception_eval.object import DynamicObject
+from perception_eval.result import SensingFrameConfig
+from perception_eval.result import SensingFrameResult
 from perception_eval.util.math import get_bbox_scale
 from perception_eval.visualization import SensingVisualizer
 
@@ -47,7 +47,6 @@ def __init__(
         evaluation_config: SensingEvaluationConfig,
     ) -> None:
         super().__init__(evaluation_config)
-        self.frame_results: List[SensingFrameResult] = []
         self.__visualizer = SensingVisualizer(self.evaluator_config)
 
     @property
diff --git a/perception_eval/perception_eval/evaluation/matching/__init__.py b/perception_eval/perception_eval/matching/__init__.py
similarity index 60%
rename from perception_eval/perception_eval/evaluation/matching/__init__.py
rename to perception_eval/perception_eval/matching/__init__.py
index fa081594..0044d8d6 100644
--- a/perception_eval/perception_eval/evaluation/matching/__init__.py
+++ b/perception_eval/perception_eval/matching/__init__.py
@@ -12,12 +12,12 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from perception_eval.evaluation.matching.object_matching import CenterDistanceMatching
-from perception_eval.evaluation.matching.object_matching import IOU2dMatching
-from perception_eval.evaluation.matching.object_matching import IOU3dMatching
-from perception_eval.evaluation.matching.object_matching import MatchingMethod
-from perception_eval.evaluation.matching.object_matching import MatchingMode
-from perception_eval.evaluation.matching.object_matching import PlaneDistanceMatching
+from .object_matching import CenterDistanceMatching
+from .object_matching import IOU2dMatching
+from .object_matching import IOU3dMatching
+from .object_matching import MatchingMethod
+from .object_matching import MatchingMode
+from .object_matching import PlaneDistanceMatching
 
 __all__ = (
     "CenterDistanceMatching",
diff --git a/perception_eval/perception_eval/evaluation/matching/object_matching.py b/perception_eval/perception_eval/matching/object_matching.py
similarity index 98%
rename from perception_eval/perception_eval/evaluation/matching/object_matching.py
rename to perception_eval/perception_eval/matching/object_matching.py
index 0a57ceb5..fa3f7a7d 100644
--- a/perception_eval/perception_eval/evaluation/matching/object_matching.py
+++ b/perception_eval/perception_eval/matching/object_matching.py
@@ -12,6 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 from abc import ABC
 from abc import abstractmethod
 from enum import Enum
@@ -20,15 +22,18 @@
 from typing import List
 from typing import Optional
 from typing import Tuple
+from typing import TYPE_CHECKING
 
-from perception_eval.common.object import distance_objects
-from perception_eval.common.object import DynamicObject
-from perception_eval.common.object import ObjectType
 from perception_eval.common.point import distance_points_bev
 from perception_eval.common.point import get_point_left_right
 from perception_eval.common.point import polygon_to_list
+from perception_eval.object import distance_objects
+from perception_eval.object import DynamicObject
 from shapely.geometry import Polygon
 
+if TYPE_CHECKING:
+    from perception_eval.object import ObjectType
+
 
 class MatchingMode(Enum):
     """[summary]
diff --git a/perception_eval/perception_eval/evaluation/matching/objects_filter.py b/perception_eval/perception_eval/matching/objects_filter.py
similarity index 98%
rename from perception_eval/perception_eval/evaluation/matching/objects_filter.py
rename to perception_eval/perception_eval/matching/objects_filter.py
index 594ba03c..23e4834d 100644
--- a/perception_eval/perception_eval/evaluation/matching/objects_filter.py
+++ b/perception_eval/perception_eval/matching/objects_filter.py
@@ -12,25 +12,30 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 from typing import Dict
 from typing import List
 from typing import Optional
 from typing import Tuple
+from typing import TYPE_CHECKING
 from typing import Union
 import warnings
 
 import numpy as np
 from perception_eval.common.label import CommonLabel
-from perception_eval.common.label import Label
-from perception_eval.common.label import LabelType
-from perception_eval.common.object import DynamicObject
-from perception_eval.common.object import ObjectType
 from perception_eval.common.schema import FrameID
 from perception_eval.common.status import MatchingStatus
 from perception_eval.common.threshold import get_label_threshold
 from perception_eval.common.threshold import LabelThreshold
-from perception_eval.evaluation import DynamicObjectWithPerceptionResult
-from perception_eval.evaluation.matching import MatchingMode
+from perception_eval.object import DynamicObject
+from perception_eval.result.perception.perception_result import DynamicObjectWithPerceptionResult
+
+if TYPE_CHECKING:
+    from perception_eval.common.label import Label
+    from perception_eval.common.label import LabelType
+    from perception_eval.matching import MatchingMode
+    from perception_eval.object import ObjectType
 
 
 def filter_object_results(
@@ -383,7 +388,7 @@ def divide_tp_fp_objects(
             )
 
         # confidence threshold
-        confidence_threshold_: Optional[float] = get_label_threshold(
+        confidence_threshold_ = get_label_threshold(
             semantic_label=object_result.estimated_object.semantic_label,
             target_labels=target_labels,
             threshold_list=confidence_threshold_list,
@@ -423,7 +428,7 @@ def get_fn_objects(
 
     fn_objects: List[ObjectType] = []
     for ground_truth_object in ground_truth_objects:
-        is_fn_object: bool = _is_fn_object(
+        is_fn_object = _is_fn_object(
             ground_truth_object=ground_truth_object,
             object_results=object_results,
             tp_object_results=tp_object_results,
diff --git a/perception_eval/test/evaluation/metrics/detection/__init__.py b/perception_eval/perception_eval/metrics/__init__.py
similarity index 80%
rename from perception_eval/test/evaluation/metrics/detection/__init__.py
rename to perception_eval/perception_eval/metrics/__init__.py
index 9be33190..0310fa43 100644
--- a/perception_eval/test/evaluation/metrics/detection/__init__.py
+++ b/perception_eval/perception_eval/metrics/__init__.py
@@ -11,3 +11,8 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+
+from .metrics import MetricsScore
+from .metrics_score_config import MetricsScoreConfig
+
+__all__ = ("MetricsScore", "MetricsScoreConfig")
diff --git a/perception_eval/perception_eval/evaluation/metrics/classification/__init__.py b/perception_eval/perception_eval/metrics/classification/__init__.py
similarity index 100%
rename from perception_eval/perception_eval/evaluation/metrics/classification/__init__.py
rename to perception_eval/perception_eval/metrics/classification/__init__.py
diff --git a/perception_eval/perception_eval/evaluation/metrics/classification/accuracy.py b/perception_eval/perception_eval/metrics/classification/accuracy.py
similarity index 96%
rename from perception_eval/perception_eval/evaluation/metrics/classification/accuracy.py
rename to perception_eval/perception_eval/metrics/classification/accuracy.py
index 522b5c29..7170597a 100644
--- a/perception_eval/perception_eval/evaluation/metrics/classification/accuracy.py
+++ b/perception_eval/perception_eval/metrics/classification/accuracy.py
@@ -12,13 +12,17 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 from collections import OrderedDict
 from typing import Dict
 from typing import List
 from typing import Tuple
+from typing import TYPE_CHECKING
 
-from perception_eval.common.label import LabelType
-from perception_eval.evaluation import DynamicObjectWithPerceptionResult
+if TYPE_CHECKING:
+    from perception_eval.common.label import LabelType
+    from perception_eval.result import DynamicObjectWithPerceptionResult
 
 
 class ClassificationAccuracy:
diff --git a/perception_eval/perception_eval/evaluation/metrics/classification/classification_metrics_score.py b/perception_eval/perception_eval/metrics/classification/classification_metrics_score.py
similarity index 95%
rename from perception_eval/perception_eval/evaluation/metrics/classification/classification_metrics_score.py
rename to perception_eval/perception_eval/metrics/classification/classification_metrics_score.py
index a4951cd2..f1b9ec57 100644
--- a/perception_eval/perception_eval/evaluation/metrics/classification/classification_metrics_score.py
+++ b/perception_eval/perception_eval/metrics/classification/classification_metrics_score.py
@@ -17,12 +17,14 @@
 from typing import Dict
 from typing import List
 from typing import Tuple
-
-from perception_eval.common.label import LabelType
-from perception_eval.evaluation import DynamicObjectWithPerceptionResult
+from typing import TYPE_CHECKING
 
 from .accuracy import ClassificationAccuracy
 
+if TYPE_CHECKING:
+    from perception_eval.common.label import LabelType
+    from perception_eval.result import DynamicObjectWithPerceptionResult
+
 
 class ClassificationMetricsScore:
     """Metrics score class for classification evaluation.
@@ -49,7 +51,7 @@ def __init__(
             object_results = object_results_dict[target_label]
             num_ground_truth = num_ground_truth_dict[target_label]
 
-            acc_: ClassificationAccuracy = ClassificationAccuracy(
+            acc_ = ClassificationAccuracy(
                 object_results=object_results,
                 num_ground_truth=num_ground_truth,
                 target_labels=[target_label],
diff --git a/perception_eval/perception_eval/evaluation/metrics/config/__init__.py b/perception_eval/perception_eval/metrics/config/__init__.py
similarity index 100%
rename from perception_eval/perception_eval/evaluation/metrics/config/__init__.py
rename to perception_eval/perception_eval/metrics/config/__init__.py
diff --git a/perception_eval/perception_eval/evaluation/metrics/config/_metrics_config_base.py b/perception_eval/perception_eval/metrics/config/_metrics_config_base.py
similarity index 93%
rename from perception_eval/perception_eval/evaluation/metrics/config/_metrics_config_base.py
rename to perception_eval/perception_eval/metrics/config/_metrics_config_base.py
index 5f23b892..7085b6b3 100644
--- a/perception_eval/perception_eval/evaluation/metrics/config/_metrics_config_base.py
+++ b/perception_eval/perception_eval/metrics/config/_metrics_config_base.py
@@ -12,15 +12,20 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 from abc import ABC
 from abc import abstractmethod
 from typing import List
 from typing import Optional
+from typing import TYPE_CHECKING
 
-from perception_eval.common.evaluation_task import EvaluationTask
-from perception_eval.common.label import LabelType
 from perception_eval.common.threshold import set_thresholds
 
+if TYPE_CHECKING:
+    from perception_eval.common.evaluation_task import EvaluationTask
+    from perception_eval.common.label import LabelType
+
 
 class _MetricsConfigBase(ABC):
     """Abstract base class of MetricsConfig for each evaluation task.
diff --git a/perception_eval/perception_eval/evaluation/metrics/config/classification_metrics_config.py b/perception_eval/perception_eval/metrics/config/classification_metrics_config.py
similarity index 94%
rename from perception_eval/perception_eval/evaluation/metrics/config/classification_metrics_config.py
rename to perception_eval/perception_eval/metrics/config/classification_metrics_config.py
index 910abf5a..606adb9a 100644
--- a/perception_eval/perception_eval/evaluation/metrics/config/classification_metrics_config.py
+++ b/perception_eval/perception_eval/metrics/config/classification_metrics_config.py
@@ -12,14 +12,19 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 from typing import List
 from typing import Optional
+from typing import TYPE_CHECKING
 
 from perception_eval.common.evaluation_task import EvaluationTask
-from perception_eval.common.label import LabelType
 
 from ._metrics_config_base import _MetricsConfigBase
 
+if TYPE_CHECKING:
+    from perception_eval.common.label import LabelType
+
 
 class ClassificationMetricsConfig(_MetricsConfigBase):
     """Configuration class for classification evaluation metrics.
diff --git a/perception_eval/perception_eval/evaluation/metrics/config/detection_metrics_config.py b/perception_eval/perception_eval/metrics/config/detection_metrics_config.py
similarity index 94%
rename from perception_eval/perception_eval/evaluation/metrics/config/detection_metrics_config.py
rename to perception_eval/perception_eval/metrics/config/detection_metrics_config.py
index 1ec752f3..50f123e9 100644
--- a/perception_eval/perception_eval/evaluation/metrics/config/detection_metrics_config.py
+++ b/perception_eval/perception_eval/metrics/config/detection_metrics_config.py
@@ -12,14 +12,19 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 from typing import List
 from typing import Optional
+from typing import TYPE_CHECKING
 
 from perception_eval.common.evaluation_task import EvaluationTask
-from perception_eval.common.label import LabelType
 
 from ._metrics_config_base import _MetricsConfigBase
 
+if TYPE_CHECKING:
+    from perception_eval.common.label import LabelType
+
 
 class DetectionMetricsConfig(_MetricsConfigBase):
     """Configuration class for detection evaluation metrics.
diff --git a/perception_eval/perception_eval/evaluation/metrics/config/prediction_metrics_config.py b/perception_eval/perception_eval/metrics/config/prediction_metrics_config.py
similarity index 94%
rename from perception_eval/perception_eval/evaluation/metrics/config/prediction_metrics_config.py
rename to perception_eval/perception_eval/metrics/config/prediction_metrics_config.py
index 73b0f1f9..5af96f20 100644
--- a/perception_eval/perception_eval/evaluation/metrics/config/prediction_metrics_config.py
+++ b/perception_eval/perception_eval/metrics/config/prediction_metrics_config.py
@@ -12,13 +12,18 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 from typing import List
+from typing import TYPE_CHECKING
 
 from perception_eval.common.evaluation_task import EvaluationTask
-from perception_eval.common.label import LabelType
 
 from ._metrics_config_base import _MetricsConfigBase
 
+if TYPE_CHECKING:
+    from perception_eval.common.label import LabelType
+
 
 class PredictionMetricsConfig(_MetricsConfigBase):
     """Configuration class for prediction evaluation metrics.
diff --git a/perception_eval/perception_eval/evaluation/metrics/config/tracking_metrics_config.py b/perception_eval/perception_eval/metrics/config/tracking_metrics_config.py
similarity index 94%
rename from perception_eval/perception_eval/evaluation/metrics/config/tracking_metrics_config.py
rename to perception_eval/perception_eval/metrics/config/tracking_metrics_config.py
index 5a0280a2..e2e9bcea 100644
--- a/perception_eval/perception_eval/evaluation/metrics/config/tracking_metrics_config.py
+++ b/perception_eval/perception_eval/metrics/config/tracking_metrics_config.py
@@ -12,13 +12,18 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 from typing import List
+from typing import TYPE_CHECKING
 
 from perception_eval.common.evaluation_task import EvaluationTask
-from perception_eval.common.label import LabelType
 
 from ._metrics_config_base import _MetricsConfigBase
 
+if TYPE_CHECKING:
+    from perception_eval.common.label import LabelType
+
 
 class TrackingMetricsConfig(_MetricsConfigBase):
     """Configuration class for tracking evaluation metrics.
diff --git a/perception_eval/perception_eval/evaluation/metrics/detection/__init__.py b/perception_eval/perception_eval/metrics/detection/__init__.py
similarity index 100%
rename from perception_eval/perception_eval/evaluation/metrics/detection/__init__.py
rename to perception_eval/perception_eval/metrics/detection/__init__.py
diff --git a/perception_eval/perception_eval/evaluation/metrics/detection/ap.py b/perception_eval/perception_eval/metrics/detection/ap.py
similarity index 96%
rename from perception_eval/perception_eval/evaluation/metrics/detection/ap.py
rename to perception_eval/perception_eval/metrics/detection/ap.py
index 4ff5b68e..b864963c 100644
--- a/perception_eval/perception_eval/evaluation/metrics/detection/ap.py
+++ b/perception_eval/perception_eval/metrics/detection/ap.py
@@ -12,24 +12,28 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from logging import getLogger
+from __future__ import annotations
+
+import logging
 import os.path as osp
 from typing import Callable
 from typing import List
 from typing import Optional
 from typing import Tuple
+from typing import TYPE_CHECKING
 from typing import Union
 
 import matplotlib.pyplot as plt
 import numpy as np
-from perception_eval.common.label import LabelType
 from perception_eval.common.threshold import get_label_threshold
-from perception_eval.evaluation import DynamicObjectWithPerceptionResult
-from perception_eval.evaluation.matching import MatchingMode
-from perception_eval.evaluation.metrics.detection.tp_metrics import TPMetricsAp
-from perception_eval.evaluation.metrics.detection.tp_metrics import TPMetricsAph
 
-logger = getLogger(__name__)
+if TYPE_CHECKING:
+    from perception_eval.common.label import LabelType
+    from perception_eval.matching import MatchingMode
+    from perception_eval.result import DynamicObjectWithPerceptionResult
+
+    from .tp_metrics import TPMetricsAp
+    from .tp_metrics import TPMetricsAph
 
 
 class Ap:
@@ -240,7 +244,7 @@ def _calculate_tp_fp(
         # When result num is 0
         if len(object_results) == 0:
             if self.num_ground_truth == 0:
-                logger.debug("The size of object_results is 0")
+                logging.debug("The size of object_results is 0")
                 return [], []
             else:
                 tp_list: List[float] = [0.0] * self.num_ground_truth
diff --git a/perception_eval/perception_eval/evaluation/metrics/detection/map.py b/perception_eval/perception_eval/metrics/detection/map.py
similarity index 92%
rename from perception_eval/perception_eval/evaluation/metrics/detection/map.py
rename to perception_eval/perception_eval/metrics/detection/map.py
index d1a20641..c2145d53 100644
--- a/perception_eval/perception_eval/evaluation/metrics/detection/map.py
+++ b/perception_eval/perception_eval/metrics/detection/map.py
@@ -12,15 +12,20 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 from typing import Dict
 from typing import List
+from typing import TYPE_CHECKING
+
+from .ap import Ap
+from .tp_metrics import TPMetricsAp
+from .tp_metrics import TPMetricsAph
 
-from perception_eval.common.label import LabelType
-from perception_eval.evaluation import DynamicObjectWithPerceptionResult
-from perception_eval.evaluation.matching import MatchingMode
-from perception_eval.evaluation.metrics.detection.ap import Ap
-from perception_eval.evaluation.metrics.detection.tp_metrics import TPMetricsAp
-from perception_eval.evaluation.metrics.detection.tp_metrics import TPMetricsAph
+if TYPE_CHECKING:
+    from perception_eval.common.label import LabelType
+    from perception_eval.matching import MatchingMode
+    from perception_eval.result import DynamicObjectWithPerceptionResult
 
 
 class Map:
diff --git a/perception_eval/perception_eval/evaluation/metrics/detection/tp_metrics.py b/perception_eval/perception_eval/metrics/detection/tp_metrics.py
similarity index 96%
rename from perception_eval/perception_eval/evaluation/metrics/detection/tp_metrics.py
rename to perception_eval/perception_eval/metrics/detection/tp_metrics.py
index 545a59f0..af402bec 100644
--- a/perception_eval/perception_eval/evaluation/metrics/detection/tp_metrics.py
+++ b/perception_eval/perception_eval/metrics/detection/tp_metrics.py
@@ -12,13 +12,18 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 from abc import ABCMeta
 from abc import abstractmethod
 from math import pi
+from typing import TYPE_CHECKING
 
 import numpy as np
 from perception_eval.common.schema import FrameID
-from perception_eval.evaluation import DynamicObjectWithPerceptionResult
+
+if TYPE_CHECKING:
+    from perception_eval.result import DynamicObjectWithPerceptionResult
 
 
 class TPMetrics(metaclass=ABCMeta):
diff --git a/perception_eval/perception_eval/evaluation/metrics/metrics.py b/perception_eval/perception_eval/metrics/metrics.py
similarity index 97%
rename from perception_eval/perception_eval/evaluation/metrics/metrics.py
rename to perception_eval/perception_eval/metrics/metrics.py
index c3c34f96..8ee35743 100644
--- a/perception_eval/perception_eval/evaluation/metrics/metrics.py
+++ b/perception_eval/perception_eval/metrics/metrics.py
@@ -12,18 +12,23 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 from typing import Dict
 from typing import List
+from typing import TYPE_CHECKING
 
-from perception_eval.common.label import LabelType
-from perception_eval.evaluation import DynamicObjectWithPerceptionResult
-from perception_eval.evaluation.matching import MatchingMode
+from perception_eval.matching import MatchingMode
 
 from .classification import ClassificationMetricsScore
 from .detection import Map
 from .metrics_score_config import MetricsScoreConfig
 from .tracking import TrackingMetricsScore
 
+if TYPE_CHECKING:
+    from perception_eval.common.label import LabelType
+    from perception_eval.result import DynamicObjectWithPerceptionResult
+
 
 class MetricsScore:
     """Metrics score class.
diff --git a/perception_eval/perception_eval/evaluation/metrics/metrics_score_config.py b/perception_eval/perception_eval/metrics/metrics_score_config.py
similarity index 100%
rename from perception_eval/perception_eval/evaluation/metrics/metrics_score_config.py
rename to perception_eval/perception_eval/metrics/metrics_score_config.py
diff --git a/perception_eval/perception_eval/evaluation/metrics/prediction/__init__.py b/perception_eval/perception_eval/metrics/prediction/__init__.py
similarity index 100%
rename from perception_eval/perception_eval/evaluation/metrics/prediction/__init__.py
rename to perception_eval/perception_eval/metrics/prediction/__init__.py
diff --git a/perception_eval/perception_eval/evaluation/metrics/tracking/__init__.py b/perception_eval/perception_eval/metrics/tracking/__init__.py
similarity index 100%
rename from perception_eval/perception_eval/evaluation/metrics/tracking/__init__.py
rename to perception_eval/perception_eval/metrics/tracking/__init__.py
diff --git a/perception_eval/perception_eval/evaluation/metrics/tracking/_metrics_base.py b/perception_eval/perception_eval/metrics/tracking/_metrics_base.py
similarity index 95%
rename from perception_eval/perception_eval/evaluation/metrics/tracking/_metrics_base.py
rename to perception_eval/perception_eval/metrics/tracking/_metrics_base.py
index 821c6865..c0088f22 100644
--- a/perception_eval/perception_eval/evaluation/metrics/tracking/_metrics_base.py
+++ b/perception_eval/perception_eval/metrics/tracking/_metrics_base.py
@@ -12,6 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 from abc import ABC
 from abc import abstractmethod
 from typing import Any
@@ -19,11 +21,14 @@
 from typing import List
 from typing import Optional
 from typing import Tuple
+from typing import TYPE_CHECKING
+
+if TYPE_CHECKING:
+    from perception_eval.common.label import LabelType
+    from perception_eval.matching import MatchingMode
+    from perception_eval.result import DynamicObjectWithPerceptionResult
 
-from perception_eval.common.label import LabelType
-from perception_eval.evaluation import DynamicObjectWithPerceptionResult
-from perception_eval.evaluation.matching import MatchingMode
-from perception_eval.evaluation.metrics.detection.tp_metrics import TPMetrics
+    from ..detection.tp_metrics import TPMetrics
 
 
 class _TrackingMetricsBase(ABC):
diff --git a/perception_eval/perception_eval/evaluation/metrics/tracking/clear.py b/perception_eval/perception_eval/metrics/tracking/clear.py
similarity index 97%
rename from perception_eval/perception_eval/evaluation/metrics/tracking/clear.py
rename to perception_eval/perception_eval/metrics/tracking/clear.py
index d2e2227e..9a00154b 100644
--- a/perception_eval/perception_eval/evaluation/metrics/tracking/clear.py
+++ b/perception_eval/perception_eval/metrics/tracking/clear.py
@@ -12,20 +12,26 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 from collections import OrderedDict
 from typing import Dict
 from typing import List
 from typing import Optional
 from typing import Tuple
+from typing import TYPE_CHECKING
 
-from perception_eval.common.label import LabelType
 from perception_eval.common.threshold import get_label_threshold
-from perception_eval.evaluation import DynamicObjectWithPerceptionResult
-from perception_eval.evaluation.matching import MatchingMode
-from perception_eval.evaluation.metrics.detection.tp_metrics import TPMetrics
-from perception_eval.evaluation.metrics.detection.tp_metrics import TPMetricsAp
 
 from ._metrics_base import _TrackingMetricsBase
+from ..detection.tp_metrics import TPMetricsAp
+
+if TYPE_CHECKING:
+    from perception_eval.common.label import LabelType
+    from perception_eval.matching import MatchingMode
+    from perception_eval.result import DynamicObjectWithPerceptionResult
+
+    from ..detection.tp_metrics import TPMetrics
 
 
 class CLEAR(_TrackingMetricsBase):
diff --git a/perception_eval/perception_eval/evaluation/metrics/tracking/hota.py b/perception_eval/perception_eval/metrics/tracking/hota.py
similarity index 91%
rename from perception_eval/perception_eval/evaluation/metrics/tracking/hota.py
rename to perception_eval/perception_eval/metrics/tracking/hota.py
index ab6f61e2..244d2170 100644
--- a/perception_eval/perception_eval/evaluation/metrics/tracking/hota.py
+++ b/perception_eval/perception_eval/metrics/tracking/hota.py
@@ -12,18 +12,23 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 from typing import Any
 from typing import List
 from typing import Optional
-
-from perception_eval.common.label import LabelType
-from perception_eval.evaluation import DynamicObjectWithPerceptionResult
-from perception_eval.evaluation.matching import MatchingMode
-from perception_eval.evaluation.metrics.detection.tp_metrics import TPMetrics
-from perception_eval.evaluation.metrics.detection.tp_metrics import TPMetricsAp
+from typing import TYPE_CHECKING
 
 from ._metrics_base import _TrackingMetricsBase
 
+if TYPE_CHECKING:
+    from perception_eval.common.label import LabelType
+    from perception_eval.matching import MatchingMode
+    from perception_eval.result import DynamicObjectWithPerceptionResult
+
+    from ..detection.tp_metrics import TPMetrics
+    from ..detection.tp_metrics import TPMetricsAp
+
 
 class HOTA(_TrackingMetricsBase):
     """==== TODO ====
diff --git a/perception_eval/perception_eval/evaluation/metrics/tracking/tracking_metrics_score.py b/perception_eval/perception_eval/metrics/tracking/tracking_metrics_score.py
similarity index 93%
rename from perception_eval/perception_eval/evaluation/metrics/tracking/tracking_metrics_score.py
rename to perception_eval/perception_eval/metrics/tracking/tracking_metrics_score.py
index a9dad00d..f7f07fbb 100644
--- a/perception_eval/perception_eval/evaluation/metrics/tracking/tracking_metrics_score.py
+++ b/perception_eval/perception_eval/metrics/tracking/tracking_metrics_score.py
@@ -12,17 +12,21 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 from ctypes import Union
 from typing import Dict
 from typing import List
 from typing import Tuple
-
-from perception_eval.common.label import LabelType
-from perception_eval.evaluation import DynamicObjectWithPerceptionResult
-from perception_eval.evaluation.matching import MatchingMode
+from typing import TYPE_CHECKING
 
 from .clear import CLEAR
 
+if TYPE_CHECKING:
+    from perception_eval.common.label import LabelType
+    from perception_eval.matching import MatchingMode
+    from perception_eval.result import DynamicObjectWithPerceptionResult
+
 
 class TrackingMetricsScore:
     """Metrics score class for tracking evaluation.
@@ -53,7 +57,7 @@ def __init__(
     ) -> None:
         assert len(target_labels) == len(matching_threshold_list)
         self.target_labels: List[LabelType] = target_labels
-        self.matching_mode: MatchingMode = matching_mode
+        self.matching_mode = matching_mode
 
         # CLEAR results for each class
         self.clears: List[CLEAR] = []
@@ -61,7 +65,7 @@ def __init__(
         for target_label, matching_threshold in zip(target_labels, matching_threshold_list):
             object_results = object_results_dict[target_label]
             num_ground_truth = num_ground_truth_dict[target_label]
-            clear_: CLEAR = CLEAR(
+            clear_ = CLEAR(
                 object_results=object_results,
                 num_ground_truth=num_ground_truth,
                 target_labels=[target_label],
diff --git a/perception_eval/perception_eval/common/object/__init__.py b/perception_eval/perception_eval/object/__init__.py
similarity index 94%
rename from perception_eval/perception_eval/common/object/__init__.py
rename to perception_eval/perception_eval/object/__init__.py
index 98947efa..595542c0 100644
--- a/perception_eval/perception_eval/common/object/__init__.py
+++ b/perception_eval/perception_eval/object/__init__.py
@@ -15,12 +15,12 @@
 from typing import Union
 
 import numpy as np
+from perception_eval.common.point import distance_points
+from perception_eval.common.point import distance_points_bev
 
 from .object2d import DynamicObject2D
 from .object2d import Roi
 from .object3d import DynamicObject
-from ..point import distance_points
-from ..point import distance_points_bev
 
 ObjectType = Union[DynamicObject, DynamicObject2D]
 
diff --git a/perception_eval/perception_eval/common/object/object2d.py b/perception_eval/perception_eval/object/object2d.py
similarity index 100%
rename from perception_eval/perception_eval/common/object/object2d.py
rename to perception_eval/perception_eval/object/object2d.py
diff --git a/perception_eval/perception_eval/common/object/object3d.py b/perception_eval/perception_eval/object/object3d.py
similarity index 100%
rename from perception_eval/perception_eval/common/object/object3d.py
rename to perception_eval/perception_eval/object/object3d.py
diff --git a/perception_eval/test/evaluation/metrics/tracking/__init__.py b/perception_eval/perception_eval/result/__init__.py
similarity index 66%
rename from perception_eval/test/evaluation/metrics/tracking/__init__.py
rename to perception_eval/perception_eval/result/__init__.py
index 9be33190..37981d15 100644
--- a/perception_eval/test/evaluation/metrics/tracking/__init__.py
+++ b/perception_eval/perception_eval/result/__init__.py
@@ -11,3 +11,12 @@
 # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 # See the License for the specific language governing permissions and
 # limitations under the License.
+
+from typing import Union
+
+from .perception import *  # noqa
+from .sensing import *  # noqa
+
+# type aliases
+ObjectResultType = Union[DynamicObjectWithPerceptionResult, DynamicObjectWithSensingResult]  # noqa
+FrameResultType = Union[PerceptionFrameResult, SensingFrameResult]  # noqa
diff --git a/perception_eval/perception_eval/result/perception/__init__.py b/perception_eval/perception_eval/result/perception/__init__.py
new file mode 100644
index 00000000..39ab9b32
--- /dev/null
+++ b/perception_eval/perception_eval/result/perception/__init__.py
@@ -0,0 +1,30 @@
+# Copyright 2023 TIER IV, Inc.
+
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+
+#     http://www.apache.org/licenses/LICENSE-2.0
+
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+from .perception_frame_config import CriticalObjectFilterConfig
+from .perception_frame_config import PerceptionPassFailConfig
+from .perception_frame_result import get_object_status
+from .perception_frame_result import PerceptionFrameResult
+from .perception_result import DynamicObjectWithPerceptionResult
+from .perception_result import get_object_results
+
+__all__ = (
+    "CriticalObjectFilterConfig",
+    "PerceptionPassFailConfig",
+    "get_object_status",
+    "PerceptionFrameResult",
+    "DynamicObjectWithPerceptionResult",
+    "get_object_results",
+)
diff --git a/perception_eval/perception_eval/evaluation/result/perception_frame_config.py b/perception_eval/perception_eval/result/perception/perception_frame_config.py
similarity index 96%
rename from perception_eval/perception_eval/evaluation/result/perception_frame_config.py
rename to perception_eval/perception_eval/result/perception/perception_frame_config.py
index 6c8bce35..593397ef 100644
--- a/perception_eval/perception_eval/evaluation/result/perception_frame_config.py
+++ b/perception_eval/perception_eval/result/perception/perception_frame_config.py
@@ -18,13 +18,15 @@
 from typing import Dict
 from typing import List
 from typing import Optional
+from typing import TYPE_CHECKING
 
 from perception_eval.common.evaluation_task import EvaluationTask
-from perception_eval.common.label import LabelType
 from perception_eval.common.label import set_target_lists
 from perception_eval.common.threshold import check_thresholds
 
-# from perception_eval.config import PerceptionEvaluationConfig
+if TYPE_CHECKING:
+    from perception_eval.common.label import LabelType
+    from perception_eval.config import PerceptionEvaluationConfig
 
 
 class CriticalObjectFilterConfig:
@@ -51,7 +53,7 @@ class CriticalObjectFilterConfig:
 
     def __init__(
         self,
-        evaluator_config,  #: PerceptionEvaluationConfig,
+        evaluator_config: PerceptionEvaluationConfig,
         target_labels: List[str],
         ignore_attributes: Optional[List[str]] = None,
         max_x_position_list: Optional[List[float]] = None,
@@ -145,7 +147,7 @@ class PerceptionPassFailConfig:
 
     def __init__(
         self,
-        evaluator_config,  #: PerceptionEvaluationConfig,
+        evaluator_config: PerceptionEvaluationConfig,
         target_labels: Optional[List[str]],
         matching_threshold_list: Optional[List[float]] = None,
         confidence_threshold_list: Optional[List[float]] = None,
diff --git a/perception_eval/perception_eval/evaluation/result/perception_frame_result.py b/perception_eval/perception_eval/result/perception/perception_frame_result.py
similarity index 82%
rename from perception_eval/perception_eval/evaluation/result/perception_frame_result.py
rename to perception_eval/perception_eval/result/perception/perception_frame_result.py
index d582bd4a..ed7b928b 100644
--- a/perception_eval/perception_eval/evaluation/result/perception_frame_result.py
+++ b/perception_eval/perception_eval/result/perception/perception_frame_result.py
@@ -17,20 +17,24 @@
 from typing import Dict
 from typing import List
 from typing import Optional
+from typing import TYPE_CHECKING
 
-from perception_eval.common.dataset import FrameGroundTruth
-from perception_eval.common.label import LabelType
-from perception_eval.common.object import ObjectType
 from perception_eval.common.status import GroundTruthStatus
 from perception_eval.common.status import MatchingStatus
-from perception_eval.evaluation import DynamicObjectWithPerceptionResult
-from perception_eval.evaluation.matching.objects_filter import divide_objects
-from perception_eval.evaluation.matching.objects_filter import divide_objects_to_num
-from perception_eval.evaluation.metrics import MetricsScore
-from perception_eval.evaluation.metrics import MetricsScoreConfig
-from perception_eval.evaluation.result.perception_frame_config import CriticalObjectFilterConfig
-from perception_eval.evaluation.result.perception_frame_config import PerceptionPassFailConfig
-from perception_eval.evaluation.result.perception_pass_fail_result import PassFailResult
+import perception_eval.matching.objects_filter as objects_filter
+import perception_eval.metrics as metrics
+
+from .perception_pass_fail_result import PassFailResult
+
+if TYPE_CHECKING:
+    from perception_eval.common.label import LabelType
+    from perception_eval.dataset import FrameGroundTruth
+    from perception_eval.metrics import MetricsScoreConfig
+    from perception_eval.object import ObjectType
+
+    from .perception_frame_config import CriticalObjectFilterConfig
+    from .perception_frame_config import PerceptionPassFailConfig
+    from .perception_result import DynamicObjectWithPerceptionResult
 
 
 class PerceptionFrameResult:
@@ -67,19 +71,19 @@ def __init__(
     ) -> None:
         # TODO(ktro2828): rename `frame_name` into `frame_number`
         # frame information
-        self.frame_name: str = frame_ground_truth.frame_name
-        self.unix_time: int = unix_time
-        self.target_labels: List[LabelType] = target_labels
+        self.frame_name = frame_ground_truth.frame_name
+        self.unix_time = unix_time
+        self.target_labels = target_labels
 
-        self.object_results: List[DynamicObjectWithPerceptionResult] = object_results
-        self.frame_ground_truth: FrameGroundTruth = frame_ground_truth
+        self.object_results = object_results
+        self.frame_ground_truth = frame_ground_truth
 
         # init evaluation
-        self.metrics_score: MetricsScore = MetricsScore(
+        self.metrics_score = metrics.MetricsScore(
             metrics_config,
             used_frame=[int(self.frame_name)],
         )
-        self.pass_fail_result: PassFailResult = PassFailResult(
+        self.pass_fail_result = PassFailResult(
             unix_time=unix_time,
             frame_number=frame_ground_truth.frame_name,
             critical_object_filter_config=critical_object_filter_config,
@@ -99,11 +103,9 @@ def evaluate_frame(
             previous_result (Optional[PerceptionFrameResult]): The previous frame result. If None, set it as empty list []. Defaults to None.
         """
         # Divide objects by label to dict
-        object_results_dict: Dict[LabelType, List[DynamicObjectWithPerceptionResult]] = divide_objects(
-            self.object_results, self.target_labels
-        )
+        object_results_dict = objects_filter.divide_objects(self.object_results, self.target_labels)
 
-        num_ground_truth_dict: Dict[LabelType, int] = divide_objects_to_num(
+        num_ground_truth_dict = objects_filter.divide_objects_to_num(
             self.frame_ground_truth.objects, self.target_labels
         )
 
@@ -114,7 +116,9 @@ def evaluate_frame(
             if previous_result is None:
                 previous_results_dict = {label: [] for label in self.target_labels}
             else:
-                previous_results_dict = divide_objects(previous_result.object_results, self.target_labels)
+                previous_results_dict = objects_filter.divide_objects(
+                    previous_result.object_results, self.target_labels
+                )
             tracking_results: Dict[LabelType, List[DynamicObjectWithPerceptionResult]] = object_results_dict.copy()
             for label, prev_results in previous_results_dict.items():
                 tracking_results[label] = [prev_results, tracking_results[label]]
diff --git a/perception_eval/perception_eval/evaluation/result/perception_pass_fail_result.py b/perception_eval/perception_eval/result/perception/perception_pass_fail_result.py
similarity index 84%
rename from perception_eval/perception_eval/evaluation/result/perception_pass_fail_result.py
rename to perception_eval/perception_eval/result/perception/perception_pass_fail_result.py
index 5e64049b..ec2c25e3 100644
--- a/perception_eval/perception_eval/evaluation/result/perception_pass_fail_result.py
+++ b/perception_eval/perception_eval/result/perception/perception_pass_fail_result.py
@@ -12,20 +12,24 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 from typing import List
 from typing import Optional
 from typing import Tuple
+from typing import TYPE_CHECKING
 import warnings
 
 import numpy as np
-from perception_eval.common.object import ObjectType
-from perception_eval.evaluation import DynamicObjectWithPerceptionResult
-from perception_eval.evaluation.matching import MatchingMode
-from perception_eval.evaluation.matching.objects_filter import filter_objects
-from perception_eval.evaluation.matching.objects_filter import get_negative_objects
-from perception_eval.evaluation.matching.objects_filter import get_positive_objects
-from perception_eval.evaluation.result.perception_frame_config import CriticalObjectFilterConfig
-from perception_eval.evaluation.result.perception_frame_config import PerceptionPassFailConfig
+from perception_eval.matching import MatchingMode
+import perception_eval.matching.objects_filter as objects_filter
+
+if TYPE_CHECKING:
+    from perception_eval.object import ObjectType
+
+    from .perception_frame_config import CriticalObjectFilterConfig
+    from .perception_frame_config import PerceptionPassFailConfig
+    from .perception_result import DynamicObjectWithPerceptionResult
 
 
 class PassFailResult:
@@ -59,12 +63,12 @@ def __init__(
         frame_pass_fail_config: PerceptionPassFailConfig,
         ego2map: Optional[np.ndarray] = None,
     ) -> None:
-        self.unix_time: int = unix_time
-        self.frame_number: int = frame_number
+        self.unix_time = unix_time
+        self.frame_number = frame_number
         # TODO(ktro2828): merge CriticalObjectFilterConfig and FramePassFailConfig into one
-        self.critical_object_filter_config: CriticalObjectFilterConfig = critical_object_filter_config
-        self.frame_pass_fail_config: PerceptionPassFailConfig = frame_pass_fail_config
-        self.ego2map: Optional[np.ndarray] = ego2map
+        self.critical_object_filter_config = critical_object_filter_config
+        self.frame_pass_fail_config = frame_pass_fail_config
+        self.ego2map = ego2map
 
         self.critical_ground_truth_objects: List[ObjectType] = []
         self.tn_objects: List[ObjectType] = []
@@ -84,7 +88,7 @@ def evaluate(
             ros_critical_ground_truth_objects (List[ObjectType]): Critical ground truth objects
                 must be evaluated at current frame.
         """
-        self.critical_ground_truth_objects = filter_objects(
+        self.critical_ground_truth_objects = objects_filter.filter_objects(
             objects=ros_critical_ground_truth_objects,
             is_gt=True,
             ego2map=self.ego2map,
@@ -95,7 +99,7 @@ def evaluate(
             critical_ground_truth_objects=self.critical_ground_truth_objects,
         )
 
-        self.tn_objects, self.fn_objects = get_negative_objects(
+        self.tn_objects, self.fn_objects = objects_filter.get_negative_objects(
             self.critical_ground_truth_objects,
             object_results,
             self.frame_pass_fail_config.target_labels,
@@ -147,7 +151,7 @@ def __get_positive_object_results(
             List[DynamicObjectWithPerceptionResult]: TP object results.
             List[DynamicObjectWithPerceptionResult]: FP object results.
         """
-        tp_object_results, fp_object_results = get_positive_objects(
+        tp_object_results, fp_object_results = objects_filter.get_positive_objects(
             object_results=object_results,
             target_labels=self.frame_pass_fail_config.target_labels,
             matching_mode=MatchingMode.IOU2D
diff --git a/perception_eval/perception_eval/evaluation/result/object_result.py b/perception_eval/perception_eval/result/perception/perception_result.py
similarity index 91%
rename from perception_eval/perception_eval/evaluation/result/object_result.py
rename to perception_eval/perception_eval/result/perception/perception_result.py
index c8a4f4ff..9e1440e5 100644
--- a/perception_eval/perception_eval/evaluation/result/object_result.py
+++ b/perception_eval/perception_eval/result/perception/perception_result.py
@@ -22,19 +22,19 @@
 import numpy as np
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import LabelType
-from perception_eval.common.object import distance_objects
-from perception_eval.common.object import distance_objects_bev
-from perception_eval.common.object import DynamicObject
-from perception_eval.common.object import DynamicObject2D
-from perception_eval.common.object import ObjectType
 from perception_eval.common.status import MatchingStatus
 from perception_eval.common.threshold import get_label_threshold
-from perception_eval.evaluation.matching import CenterDistanceMatching
-from perception_eval.evaluation.matching import IOU2dMatching
-from perception_eval.evaluation.matching import IOU3dMatching
-from perception_eval.evaluation.matching import MatchingMethod
-from perception_eval.evaluation.matching import MatchingMode
-from perception_eval.evaluation.matching import PlaneDistanceMatching
+from perception_eval.matching import CenterDistanceMatching
+from perception_eval.matching import IOU2dMatching
+from perception_eval.matching import IOU3dMatching
+from perception_eval.matching import MatchingMethod
+from perception_eval.matching import MatchingMode
+from perception_eval.matching import PlaneDistanceMatching
+from perception_eval.object import distance_objects
+from perception_eval.object import distance_objects_bev
+from perception_eval.object import DynamicObject
+from perception_eval.object import DynamicObject2D
+from perception_eval.object import ObjectType
 
 
 class DynamicObjectWithPerceptionResult:
@@ -68,28 +68,28 @@ def __init__(
                 ground_truth_object
             ), f"Input objects type must be same, but got {type(estimated_object)} and {type(ground_truth_object)}"
 
-        self.estimated_object: ObjectType = estimated_object
-        self.ground_truth_object: Optional[ObjectType] = ground_truth_object
+        self.estimated_object = estimated_object
+        self.ground_truth_object = ground_truth_object
 
         if isinstance(self.estimated_object, DynamicObject2D) and self.estimated_object.roi is None:
             self.center_distance = None
             self.iou_2d = None
         else:
-            self.center_distance: CenterDistanceMatching = CenterDistanceMatching(
+            self.center_distance = CenterDistanceMatching(
                 self.estimated_object,
                 self.ground_truth_object,
             )
-            self.iou_2d: IOU2dMatching = IOU2dMatching(
+            self.iou_2d = IOU2dMatching(
                 self.estimated_object,
                 self.ground_truth_object,
             )
 
         if isinstance(estimated_object, DynamicObject):
-            self.iou_3d: IOU3dMatching = IOU3dMatching(
+            self.iou_3d = IOU3dMatching(
                 self.estimated_object,
                 self.ground_truth_object,
             )
-            self.plane_distance: PlaneDistanceMatching = PlaneDistanceMatching(
+            self.plane_distance = PlaneDistanceMatching(
                 self.estimated_object,
                 self.ground_truth_object,
             )
@@ -154,7 +154,7 @@ def is_result_correct(
             return self.is_label_correct
 
         # Whether is matching to ground truth
-        matching: Optional[MatchingMethod] = self.get_matching(matching_mode)
+        matching = self.get_matching(matching_mode)
         if matching is None:
             return self.is_label_correct
 
@@ -307,7 +307,7 @@ def get_object_results(
         return _get_object_results_with_id(estimated_objects, ground_truth_objects)
 
     matching_method_module, maximize = _get_matching_module(matching_mode)
-    score_table: np.ndarray = _get_score_table(
+    score_table = _get_score_table(
         estimated_objects,
         ground_truth_objects,
         allow_matching_unknown,
@@ -318,8 +318,8 @@ def get_object_results(
 
     # assign correspond GT to estimated objects
     object_results: List[DynamicObjectWithPerceptionResult] = []
-    estimated_objects_: List[ObjectType] = estimated_objects.copy()
-    ground_truth_objects_: List[ObjectType] = ground_truth_objects.copy()
+    estimated_objects_ = estimated_objects.copy()
+    ground_truth_objects_ = ground_truth_objects.copy()
     num_estimation: int = score_table.shape[0]
     for _ in range(num_estimation):
         if np.isnan(score_table).all():
@@ -409,7 +409,7 @@ def _get_fp_object_results(
     """
     object_results: List[DynamicObjectWithPerceptionResult] = []
     for est_obj_ in estimated_objects:
-        object_result_: DynamicObjectWithPerceptionResult = DynamicObjectWithPerceptionResult(
+        object_result_ = DynamicObjectWithPerceptionResult(
             estimated_object=est_obj_,
             ground_truth_object=None,
         )
@@ -470,10 +470,9 @@ def _get_score_table(
     # fill matching score table, in shape (NumEst, NumGT)
     num_row: int = len(estimated_objects)
     num_col: int = len(ground_truth_objects)
-    score_table: np.ndarray = np.full((num_row, num_col), np.nan)
+    score_table = np.full((num_row, num_col), np.nan)
     for i, est_obj in enumerate(estimated_objects):
         for j, gt_obj in enumerate(ground_truth_objects):
-            is_label_ok: bool = False
             if gt_obj.semantic_label.is_fp():
                 is_label_ok = True
             elif allow_matching_unknown:
@@ -481,7 +480,7 @@ def _get_score_table(
             else:
                 is_label_ok = est_obj.semantic_label == gt_obj.semantic_label
 
-            is_same_frame_id: bool = est_obj.frame_id == gt_obj.frame_id
+            is_same_frame_id = est_obj.frame_id == gt_obj.frame_id
 
             if is_label_ok and is_same_frame_id:
                 threshold: Optional[float] = get_label_threshold(
diff --git a/perception_eval/perception_eval/evaluation/metrics/__init__.py b/perception_eval/perception_eval/result/sensing/__init__.py
similarity index 69%
rename from perception_eval/perception_eval/evaluation/metrics/__init__.py
rename to perception_eval/perception_eval/result/sensing/__init__.py
index 4109a90d..62ca1989 100644
--- a/perception_eval/perception_eval/evaluation/metrics/__init__.py
+++ b/perception_eval/perception_eval/result/sensing/__init__.py
@@ -12,7 +12,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from perception_eval.evaluation.metrics.metrics import MetricsScore
-from perception_eval.evaluation.metrics.metrics_score_config import MetricsScoreConfig
+from .sensing_frame_config import SensingFrameConfig
+from .sensing_frame_result import SensingFrameResult
+from .sensing_result import DynamicObjectWithSensingResult
 
-__all__ = ("MetricsScore", "MetricsScoreConfig")
+__all__ = ("SensingFrameConfig", "SensingFrameResult", "DynamicObjectWithSensingResult")
diff --git a/perception_eval/perception_eval/evaluation/sensing/sensing_frame_config.py b/perception_eval/perception_eval/result/sensing/sensing_frame_config.py
similarity index 100%
rename from perception_eval/perception_eval/evaluation/sensing/sensing_frame_config.py
rename to perception_eval/perception_eval/result/sensing/sensing_frame_config.py
diff --git a/perception_eval/perception_eval/evaluation/sensing/sensing_frame_result.py b/perception_eval/perception_eval/result/sensing/sensing_frame_result.py
similarity index 96%
rename from perception_eval/perception_eval/evaluation/sensing/sensing_frame_result.py
rename to perception_eval/perception_eval/result/sensing/sensing_frame_result.py
index b9eb971a..b832ab4f 100644
--- a/perception_eval/perception_eval/evaluation/sensing/sensing_frame_result.py
+++ b/perception_eval/perception_eval/result/sensing/sensing_frame_result.py
@@ -17,10 +17,11 @@
 from typing import Tuple
 
 import numpy as np
-from perception_eval.common.object import DynamicObject
 from perception_eval.common.point import crop_pointcloud
-from perception_eval.evaluation.sensing.sensing_frame_config import SensingFrameConfig
-from perception_eval.evaluation.sensing.sensing_result import DynamicObjectWithSensingResult
+from perception_eval.object import DynamicObject
+
+from .sensing_frame_config import SensingFrameConfig
+from .sensing_result import DynamicObjectWithSensingResult
 
 
 class SensingFrameResult:
diff --git a/perception_eval/perception_eval/evaluation/sensing/sensing_result.py b/perception_eval/perception_eval/result/sensing/sensing_result.py
similarity index 98%
rename from perception_eval/perception_eval/evaluation/sensing/sensing_result.py
rename to perception_eval/perception_eval/result/sensing/sensing_result.py
index 89905271..fd4cfd21 100644
--- a/perception_eval/perception_eval/evaluation/sensing/sensing_result.py
+++ b/perception_eval/perception_eval/result/sensing/sensing_result.py
@@ -15,8 +15,8 @@
 from typing import Optional
 
 import numpy as np
-from perception_eval.common.object import DynamicObject
 from perception_eval.common.schema import Visibility
+from perception_eval.object import DynamicObject
 
 
 class DynamicObjectWithSensingResult:
diff --git a/perception_eval/perception_eval/tool/perception_analyzer2d.py b/perception_eval/perception_eval/tool/perception_analyzer2d.py
index 748b7244..0261d318 100644
--- a/perception_eval/perception_eval/tool/perception_analyzer2d.py
+++ b/perception_eval/perception_eval/tool/perception_analyzer2d.py
@@ -25,10 +25,10 @@
 import numpy as np
 import pandas as pd
 from perception_eval.common.evaluation_task import EvaluationTask
-from perception_eval.common.object import DynamicObject2D
 from perception_eval.common.status import MatchingStatus
 from perception_eval.config import PerceptionEvaluationConfig
-from perception_eval.evaluation import DynamicObjectWithPerceptionResult
+from perception_eval.object import DynamicObject2D
+from perception_eval.result import DynamicObjectWithPerceptionResult
 import yaml
 
 from .perception_analyzer_base import PerceptionAnalyzerBase
diff --git a/perception_eval/perception_eval/tool/perception_analyzer3d.py b/perception_eval/perception_eval/tool/perception_analyzer3d.py
index 2937bd02..823557a9 100644
--- a/perception_eval/perception_eval/tool/perception_analyzer3d.py
+++ b/perception_eval/perception_eval/tool/perception_analyzer3d.py
@@ -23,10 +23,10 @@
 
 import numpy as np
 import pandas as pd
-from perception_eval.common.object import DynamicObject
 from perception_eval.common.status import MatchingStatus
 from perception_eval.config import PerceptionEvaluationConfig
-from perception_eval.evaluation import DynamicObjectWithPerceptionResult
+from perception_eval.object import DynamicObject
+from perception_eval.result import DynamicObjectWithPerceptionResult
 from perception_eval.util.math import get_pose_transform_matrix
 from perception_eval.util.math import rotation_matrix_to_euler
 import yaml
diff --git a/perception_eval/perception_eval/tool/perception_analyzer_base.py b/perception_eval/perception_eval/tool/perception_analyzer_base.py
index 35b8ae4d..ce6e0d3d 100644
--- a/perception_eval/perception_eval/tool/perception_analyzer_base.py
+++ b/perception_eval/perception_eval/tool/perception_analyzer_base.py
@@ -37,14 +37,14 @@
 import numpy as np
 import pandas as pd
 from perception_eval.common.label import LabelType
-from perception_eval.common.object import ObjectType
 from perception_eval.common.status import MatchingStatus
 from perception_eval.config import PerceptionEvaluationConfig
-from perception_eval.evaluation import DynamicObjectWithPerceptionResult
-from perception_eval.evaluation import PerceptionFrameResult
-from perception_eval.evaluation.matching.objects_filter import divide_objects
-from perception_eval.evaluation.matching.objects_filter import divide_objects_to_num
-from perception_eval.evaluation.metrics.metrics import MetricsScore
+from perception_eval.matching.objects_filter import divide_objects
+from perception_eval.matching.objects_filter import divide_objects_to_num
+from perception_eval.metrics.metrics import MetricsScore
+from perception_eval.object import ObjectType
+from perception_eval.result import DynamicObjectWithPerceptionResult
+from perception_eval.result import PerceptionFrameResult
 from tqdm import tqdm
 
 from .utils import filter_df
diff --git a/perception_eval/perception_eval/tool/utils.py b/perception_eval/perception_eval/tool/utils.py
index 16b9839d..93ea18c0 100644
--- a/perception_eval/perception_eval/tool/utils.py
+++ b/perception_eval/perception_eval/tool/utils.py
@@ -27,11 +27,11 @@
 import matplotlib.pyplot as plt
 import numpy as np
 import pandas as pd
-from perception_eval.common.object import DynamicObject
 from perception_eval.common.schema import FrameID
-from perception_eval.evaluation.metrics.metrics import MetricsScore
-from perception_eval.evaluation.result.object_result import DynamicObjectWithPerceptionResult
-from perception_eval.evaluation.result.perception_frame_result import PerceptionFrameResult
+from perception_eval.metrics import MetricsScore
+from perception_eval.object import DynamicObject
+from perception_eval.result import DynamicObjectWithPerceptionResult
+from perception_eval.result import PerceptionFrameResult
 
 
 class PlotAxes(Enum):
diff --git a/perception_eval/perception_eval/util/debug.py b/perception_eval/perception_eval/util/debug.py
index 34fa3c19..f8bb1378 100644
--- a/perception_eval/perception_eval/util/debug.py
+++ b/perception_eval/perception_eval/util/debug.py
@@ -24,9 +24,9 @@
 from perception_eval.common.label import Label
 from perception_eval.common.label import LabelType
 from perception_eval.common.label import TrafficLightLabel
-from perception_eval.common.object import DynamicObject
-from perception_eval.common.object import DynamicObject2D
 from perception_eval.common.shape import Shape
+from perception_eval.object import DynamicObject
+from perception_eval.object import DynamicObject2D
 from pyquaternion.quaternion import Quaternion
 
 
diff --git a/perception_eval/perception_eval/visualization/eda_tool.py b/perception_eval/perception_eval/visualization/eda_tool.py
index 8bd65410..8ab7685d 100644
--- a/perception_eval/perception_eval/visualization/eda_tool.py
+++ b/perception_eval/perception_eval/visualization/eda_tool.py
@@ -26,12 +26,12 @@
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import LabelConverter
 from perception_eval.common.label import LabelType
-from perception_eval.common.object import DynamicObject
-from perception_eval.evaluation import DynamicObjectWithPerceptionResult
-from perception_eval.evaluation.matching import MatchingMode
-from perception_eval.evaluation.matching.objects_filter import divide_tp_fp_objects
-from perception_eval.evaluation.matching.objects_filter import filter_object_results
-from perception_eval.evaluation.matching.objects_filter import get_fn_objects
+from perception_eval.matching import MatchingMode
+from perception_eval.matching.objects_filter import divide_tp_fp_objects
+from perception_eval.matching.objects_filter import filter_object_results
+from perception_eval.matching.objects_filter import get_fn_objects
+from perception_eval.object import DynamicObject
+from perception_eval.result import DynamicObjectWithPerceptionResult
 from plotly import graph_objects as go
 from plotly.graph_objs import Figure
 from plotly.subplots import make_subplots
diff --git a/perception_eval/perception_eval/visualization/perception_visualizer2d.py b/perception_eval/perception_eval/visualization/perception_visualizer2d.py
index 4348e273..f092bdf8 100644
--- a/perception_eval/perception_eval/visualization/perception_visualizer2d.py
+++ b/perception_eval/perception_eval/visualization/perception_visualizer2d.py
@@ -30,10 +30,10 @@
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import AutowareLabel
 from perception_eval.common.label import TrafficLightLabel
-from perception_eval.common.object import DynamicObject2D
 from perception_eval.config import PerceptionEvaluationConfig
-from perception_eval.evaluation import DynamicObjectWithPerceptionResult
-from perception_eval.evaluation import PerceptionFrameResult
+from perception_eval.object import DynamicObject2D
+from perception_eval.result import DynamicObjectWithPerceptionResult
+from perception_eval.result import PerceptionFrameResult
 from perception_eval.visualization.color import ColorMap
 from PIL import Image
 from PIL.Image import Image as PILImage
diff --git a/perception_eval/perception_eval/visualization/perception_visualizer3d.py b/perception_eval/perception_eval/visualization/perception_visualizer3d.py
index ada77b43..118373bb 100644
--- a/perception_eval/perception_eval/visualization/perception_visualizer3d.py
+++ b/perception_eval/perception_eval/visualization/perception_visualizer3d.py
@@ -29,11 +29,11 @@
 from matplotlib.transforms import Affine2D
 import numpy as np
 from perception_eval.common.evaluation_task import EvaluationTask
-from perception_eval.common.object import DynamicObject
 from perception_eval.common.schema import FrameID
 from perception_eval.config import PerceptionEvaluationConfig
-from perception_eval.evaluation import DynamicObjectWithPerceptionResult
-from perception_eval.evaluation import PerceptionFrameResult
+from perception_eval.object import DynamicObject
+from perception_eval.result import DynamicObjectWithPerceptionResult
+from perception_eval.result import PerceptionFrameResult
 from perception_eval.util.math import rotation_matrix_to_euler
 from perception_eval.visualization.color import ColorMap
 from PIL import Image
diff --git a/perception_eval/perception_eval/visualization/sensing_visualizer.py b/perception_eval/perception_eval/visualization/sensing_visualizer.py
index 2f0b2a12..0cdd5023 100644
--- a/perception_eval/perception_eval/visualization/sensing_visualizer.py
+++ b/perception_eval/perception_eval/visualization/sensing_visualizer.py
@@ -28,10 +28,10 @@
 import matplotlib.pyplot as plt
 from matplotlib.transforms import Affine2D
 import numpy as np
-from perception_eval.common.object import DynamicObject
 from perception_eval.config import SensingEvaluationConfig
-from perception_eval.evaluation import DynamicObjectWithSensingResult
-from perception_eval.evaluation import SensingFrameResult
+from perception_eval.object import DynamicObject
+from perception_eval.result import DynamicObjectWithSensingResult
+from perception_eval.result import SensingFrameResult
 from perception_eval.visualization.color import ColorMap
 from PIL import Image
 from PIL.Image import Image as PILImage
diff --git a/perception_eval/test/eda.py b/perception_eval/test/eda.py
index 9a0f8dcd..9edb9f76 100644
--- a/perception_eval/test/eda.py
+++ b/perception_eval/test/eda.py
@@ -18,12 +18,12 @@
 from typing import List
 from typing import Union
 
-from perception_eval.common.dataset import FrameGroundTruth
-from perception_eval.common.dataset import load_all_datasets
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import LabelConverter
-from perception_eval.common.object import DynamicObject
 from perception_eval.common.schema import FrameID
+from perception_eval.dataset import FrameGroundTruth
+from perception_eval.dataset import load_all_datasets
+from perception_eval.object import DynamicObject
 from perception_eval.visualization.eda_tool import EDAVisualizer
 
 
diff --git a/perception_eval/test/evaluation/metrics/prediction/__init__.py b/perception_eval/test/evaluation/metrics/prediction/__init__.py
deleted file mode 100644
index 9be33190..00000000
--- a/perception_eval/test/evaluation/metrics/prediction/__init__.py
+++ /dev/null
@@ -1,13 +0,0 @@
-# Copyright 2022 TIER IV, Inc.
-
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-
-#     http://www.apache.org/licenses/LICENSE-2.0
-
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
diff --git a/perception_eval/test/evaluation/result/__init__.py b/perception_eval/test/evaluation/result/__init__.py
deleted file mode 100644
index 9be33190..00000000
--- a/perception_eval/test/evaluation/result/__init__.py
+++ /dev/null
@@ -1,13 +0,0 @@
-# Copyright 2022 TIER IV, Inc.
-
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-
-#     http://www.apache.org/licenses/LICENSE-2.0
-
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
diff --git a/perception_eval/test/evaluation/sensing/__init__.py b/perception_eval/test/evaluation/sensing/__init__.py
deleted file mode 100644
index 9be33190..00000000
--- a/perception_eval/test/evaluation/sensing/__init__.py
+++ /dev/null
@@ -1,13 +0,0 @@
-# Copyright 2022 TIER IV, Inc.
-
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-
-#     http://www.apache.org/licenses/LICENSE-2.0
-
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
diff --git a/perception_eval/perception_eval/evaluation/result/__init__.py b/perception_eval/test/matching/__init__.py
similarity index 100%
rename from perception_eval/perception_eval/evaluation/result/__init__.py
rename to perception_eval/test/matching/__init__.py
diff --git a/perception_eval/perception_eval/evaluation/sensing/__init__.py b/perception_eval/test/matching/object_matching/__init__.py
old mode 100644
new mode 100755
similarity index 100%
rename from perception_eval/perception_eval/evaluation/sensing/__init__.py
rename to perception_eval/test/matching/object_matching/__init__.py
diff --git a/perception_eval/test/evaluation/matching/object_matching/test_iou_2d_matching.py b/perception_eval/test/matching/object_matching/test_iou_2d_matching.py
similarity index 96%
rename from perception_eval/test/evaluation/matching/object_matching/test_iou_2d_matching.py
rename to perception_eval/test/matching/object_matching/test_iou_2d_matching.py
index b1f9858a..dc4e30a0 100644
--- a/perception_eval/test/evaluation/matching/object_matching/test_iou_2d_matching.py
+++ b/perception_eval/test/matching/object_matching/test_iou_2d_matching.py
@@ -18,9 +18,9 @@
 from typing import Tuple
 import unittest
 
-from perception_eval.common.object import DynamicObject
-from perception_eval.evaluation.matching.object_matching import _get_area_intersection
-from perception_eval.evaluation.matching.object_matching import IOU2dMatching
+from perception_eval.matching import IOU2dMatching
+from perception_eval.matching.object_matching import _get_area_intersection
+from perception_eval.object import DynamicObject
 from perception_eval.util.debug import get_objects_with_difference
 
 
diff --git a/perception_eval/test/evaluation/matching/object_matching/test_iou_3d_matching.py b/perception_eval/test/matching/object_matching/test_iou_3d_matching.py
similarity index 94%
rename from perception_eval/test/evaluation/matching/object_matching/test_iou_3d_matching.py
rename to perception_eval/test/matching/object_matching/test_iou_3d_matching.py
index 17abed16..fdae8f18 100644
--- a/perception_eval/test/evaluation/matching/object_matching/test_iou_3d_matching.py
+++ b/perception_eval/test/matching/object_matching/test_iou_3d_matching.py
@@ -17,10 +17,10 @@
 from typing import Tuple
 import unittest
 
-from perception_eval.common.object import DynamicObject
-from perception_eval.evaluation.matching.object_matching import _get_height_intersection
-from perception_eval.evaluation.matching.object_matching import _get_volume_intersection
-from perception_eval.evaluation.matching.object_matching import IOU3dMatching
+from perception_eval.matching import IOU3dMatching
+from perception_eval.matching.object_matching import _get_height_intersection
+from perception_eval.matching.object_matching import _get_volume_intersection
+from perception_eval.object import DynamicObject
 from perception_eval.util.debug import get_objects_with_difference
 
 
diff --git a/perception_eval/test/evaluation/matching/object_matching/test_plane_distance_matching.py b/perception_eval/test/matching/object_matching/test_plane_distance_matching.py
similarity index 97%
rename from perception_eval/test/evaluation/matching/object_matching/test_plane_distance_matching.py
rename to perception_eval/test/matching/object_matching/test_plane_distance_matching.py
index 9f77236a..1db0e657 100644
--- a/perception_eval/test/evaluation/matching/object_matching/test_plane_distance_matching.py
+++ b/perception_eval/test/matching/object_matching/test_plane_distance_matching.py
@@ -18,8 +18,8 @@
 from typing import Tuple
 import unittest
 
-from perception_eval.common.object import DynamicObject
-from perception_eval.evaluation.matching.object_matching import PlaneDistanceMatching
+from perception_eval.matching import PlaneDistanceMatching
+from perception_eval.object import DynamicObject
 from perception_eval.util.debug import get_objects_with_difference
 
 
diff --git a/perception_eval/test/evaluation/matching/test_objects_filter.py b/perception_eval/test/matching/test_objects_filter.py
similarity index 97%
rename from perception_eval/test/evaluation/matching/test_objects_filter.py
rename to perception_eval/test/matching/test_objects_filter.py
index fd686471..f1af3493 100644
--- a/perception_eval/test/evaluation/matching/test_objects_filter.py
+++ b/perception_eval/test/matching/test_objects_filter.py
@@ -23,18 +23,18 @@
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import AutowareLabel
 from perception_eval.common.label import Label
-from perception_eval.common.object import DynamicObject
-from perception_eval.evaluation.matching.object_matching import MatchingMode
-from perception_eval.evaluation.matching.objects_filter import divide_objects
-from perception_eval.evaluation.matching.objects_filter import divide_objects_to_num
-from perception_eval.evaluation.matching.objects_filter import divide_tp_fp_objects
-from perception_eval.evaluation.matching.objects_filter import filter_object_results
-from perception_eval.evaluation.matching.objects_filter import filter_objects
-from perception_eval.evaluation.matching.objects_filter import get_fn_objects
-from perception_eval.evaluation.matching.objects_filter import get_negative_objects
-from perception_eval.evaluation.matching.objects_filter import get_positive_objects
-from perception_eval.evaluation.result.object_result import DynamicObjectWithPerceptionResult
-from perception_eval.evaluation.result.object_result import get_object_results
+from perception_eval.matching import MatchingMode
+from perception_eval.matching.objects_filter import divide_objects
+from perception_eval.matching.objects_filter import divide_objects_to_num
+from perception_eval.matching.objects_filter import divide_tp_fp_objects
+from perception_eval.matching.objects_filter import filter_object_results
+from perception_eval.matching.objects_filter import filter_objects
+from perception_eval.matching.objects_filter import get_fn_objects
+from perception_eval.matching.objects_filter import get_negative_objects
+from perception_eval.matching.objects_filter import get_positive_objects
+from perception_eval.object import DynamicObject
+from perception_eval.result import DynamicObjectWithPerceptionResult
+from perception_eval.result import get_object_results
 from perception_eval.util.debug import get_objects_with_difference
 
 
diff --git a/perception_eval/test/evaluation/__init__.py b/perception_eval/test/metrics/__init__.py
old mode 100644
new mode 100755
similarity index 100%
rename from perception_eval/test/evaluation/__init__.py
rename to perception_eval/test/metrics/__init__.py
diff --git a/perception_eval/test/evaluation/matching/__init__.py b/perception_eval/test/metrics/classification/__init__.py
similarity index 100%
rename from perception_eval/test/evaluation/matching/__init__.py
rename to perception_eval/test/metrics/classification/__init__.py
diff --git a/perception_eval/test/evaluation/metrics/classification/test_accuracy.py b/perception_eval/test/metrics/classification/test_accuracy.py
similarity index 94%
rename from perception_eval/test/evaluation/metrics/classification/test_accuracy.py
rename to perception_eval/test/metrics/classification/test_accuracy.py
index 0606a764..c0b4ddea 100644
--- a/perception_eval/test/evaluation/metrics/classification/test_accuracy.py
+++ b/perception_eval/test/metrics/classification/test_accuracy.py
@@ -21,9 +21,9 @@
 
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import AutowareLabel
-from perception_eval.evaluation.matching.objects_filter import filter_objects
-from perception_eval.evaluation.metrics.classification.accuracy import ClassificationAccuracy
-from perception_eval.evaluation.result.object_result import get_object_results
+from perception_eval.matching.objects_filter import filter_objects
+from perception_eval.metrics.classification.accuracy import ClassificationAccuracy
+from perception_eval.result import get_object_results
 
 
 class AnswerAccuracy:
diff --git a/perception_eval/test/evaluation/metrics/classification/test_classification_metrics_score.py b/perception_eval/test/metrics/classification/test_classification_metrics_score.py
similarity index 88%
rename from perception_eval/test/evaluation/metrics/classification/test_classification_metrics_score.py
rename to perception_eval/test/metrics/classification/test_classification_metrics_score.py
index 39baa833..f64798c2 100644
--- a/perception_eval/test/evaluation/metrics/classification/test_classification_metrics_score.py
+++ b/perception_eval/test/metrics/classification/test_classification_metrics_score.py
@@ -18,11 +18,11 @@
 
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import AutowareLabel
-from perception_eval.evaluation.matching.objects_filter import divide_objects
-from perception_eval.evaluation.matching.objects_filter import divide_objects_to_num
-from perception_eval.evaluation.matching.objects_filter import filter_objects
-from perception_eval.evaluation.metrics.classification import ClassificationMetricsScore
-from perception_eval.evaluation.result.object_result import get_object_results
+from perception_eval.matching.objects_filter import divide_objects
+from perception_eval.matching.objects_filter import divide_objects_to_num
+from perception_eval.matching.objects_filter import filter_objects
+from perception_eval.metrics.classification import ClassificationMetricsScore
+from perception_eval.result import get_object_results
 
 
 class TestClassificationMetricsScore(unittest.TestCase):
diff --git a/perception_eval/test/evaluation/matching/object_matching/__init__.py b/perception_eval/test/metrics/detection/__init__.py
old mode 100755
new mode 100644
similarity index 100%
rename from perception_eval/test/evaluation/matching/object_matching/__init__.py
rename to perception_eval/test/metrics/detection/__init__.py
diff --git a/perception_eval/test/evaluation/metrics/detection/test_ap.py b/perception_eval/test/metrics/detection/test_ap.py
similarity index 98%
rename from perception_eval/test/evaluation/metrics/detection/test_ap.py
rename to perception_eval/test/metrics/detection/test_ap.py
index 1001c763..0044a497 100644
--- a/perception_eval/test/evaluation/metrics/detection/test_ap.py
+++ b/perception_eval/test/metrics/detection/test_ap.py
@@ -26,14 +26,14 @@
 import numpy as np
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import AutowareLabel
-from perception_eval.common.object import DynamicObject
-from perception_eval.evaluation.matching import MatchingMode
-from perception_eval.evaluation.matching.objects_filter import filter_objects
-from perception_eval.evaluation.metrics.detection.ap import Ap
-from perception_eval.evaluation.metrics.detection.tp_metrics import TPMetricsAp
-from perception_eval.evaluation.metrics.detection.tp_metrics import TPMetricsAph
-from perception_eval.evaluation.result.object_result import DynamicObjectWithPerceptionResult
-from perception_eval.evaluation.result.object_result import get_object_results
+from perception_eval.matching import MatchingMode
+from perception_eval.matching.objects_filter import filter_objects
+from perception_eval.metrics.detection.ap import Ap
+from perception_eval.metrics.detection.tp_metrics import TPMetricsAp
+from perception_eval.metrics.detection.tp_metrics import TPMetricsAph
+from perception_eval.object import DynamicObject
+from perception_eval.result import DynamicObjectWithPerceptionResult
+from perception_eval.result import get_object_results
 from perception_eval.util.debug import get_objects_with_difference
 
 
diff --git a/perception_eval/test/evaluation/metrics/detection/test_map.py b/perception_eval/test/metrics/detection/test_map.py
similarity index 98%
rename from perception_eval/test/evaluation/metrics/detection/test_map.py
rename to perception_eval/test/metrics/detection/test_map.py
index d9158434..3e1c4767 100644
--- a/perception_eval/test/evaluation/metrics/detection/test_map.py
+++ b/perception_eval/test/metrics/detection/test_map.py
@@ -21,14 +21,14 @@
 
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import AutowareLabel
-from perception_eval.common.object import DynamicObject
-from perception_eval.evaluation.matching.object_matching import MatchingMode
-from perception_eval.evaluation.matching.objects_filter import divide_objects
-from perception_eval.evaluation.matching.objects_filter import divide_objects_to_num
-from perception_eval.evaluation.matching.objects_filter import filter_objects
-from perception_eval.evaluation.metrics.detection.map import Map
-from perception_eval.evaluation.result.object_result import DynamicObjectWithPerceptionResult
-from perception_eval.evaluation.result.object_result import get_object_results
+from perception_eval.matching.object_matching import MatchingMode
+from perception_eval.matching.objects_filter import divide_objects
+from perception_eval.matching.objects_filter import divide_objects_to_num
+from perception_eval.matching.objects_filter import filter_objects
+from perception_eval.metrics.detection.map import Map
+from perception_eval.object import DynamicObject
+from perception_eval.result import DynamicObjectWithPerceptionResult
+from perception_eval.result import get_object_results
 from perception_eval.util.debug import get_objects_with_difference
 
 
diff --git a/perception_eval/test/evaluation/metrics/__init__.py b/perception_eval/test/metrics/prediction/__init__.py
old mode 100755
new mode 100644
similarity index 100%
rename from perception_eval/test/evaluation/metrics/__init__.py
rename to perception_eval/test/metrics/prediction/__init__.py
diff --git a/perception_eval/test/evaluation/metrics/test_metrics_score_config.py b/perception_eval/test/metrics/test_metrics_score_config.py
similarity index 82%
rename from perception_eval/test/evaluation/metrics/test_metrics_score_config.py
rename to perception_eval/test/metrics/test_metrics_score_config.py
index 9cbdf94b..ff9162f0 100644
--- a/perception_eval/test/evaluation/metrics/test_metrics_score_config.py
+++ b/perception_eval/test/metrics/test_metrics_score_config.py
@@ -18,11 +18,11 @@
 from typing import Tuple
 import unittest
 
-from perception_eval.evaluation.metrics.config._metrics_config_base import _MetricsConfigBase
-from perception_eval.evaluation.metrics.config.detection_metrics_config import DetectionMetricsConfig
-from perception_eval.evaluation.metrics.config.tracking_metrics_config import TrackingMetricsConfig
-from perception_eval.evaluation.metrics.metrics_score_config import MetricsParameterError
-from perception_eval.evaluation.metrics.metrics_score_config import MetricsScoreConfig
+from perception_eval.metrics.config._metrics_config_base import _MetricsConfigBase
+from perception_eval.metrics.config.detection_metrics_config import DetectionMetricsConfig
+from perception_eval.metrics.config.tracking_metrics_config import TrackingMetricsConfig
+from perception_eval.metrics.metrics_score_config import MetricsParameterError
+from perception_eval.metrics.metrics_score_config import MetricsScoreConfig
 
 
 class TestMetricsScoreConfig(unittest.TestCase):
diff --git a/perception_eval/test/evaluation/metrics/classification/__init__.py b/perception_eval/test/metrics/tracking/__init__.py
similarity index 100%
rename from perception_eval/test/evaluation/metrics/classification/__init__.py
rename to perception_eval/test/metrics/tracking/__init__.py
diff --git a/perception_eval/test/evaluation/metrics/tracking/test_clear.py b/perception_eval/test/metrics/tracking/test_clear.py
similarity index 98%
rename from perception_eval/test/evaluation/metrics/tracking/test_clear.py
rename to perception_eval/test/metrics/tracking/test_clear.py
index 94bbfb6e..70b103a2 100644
--- a/perception_eval/test/evaluation/metrics/tracking/test_clear.py
+++ b/perception_eval/test/metrics/tracking/test_clear.py
@@ -24,12 +24,12 @@
 
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import AutowareLabel
-from perception_eval.common.object import DynamicObject
-from perception_eval.evaluation.matching.object_matching import MatchingMode
-from perception_eval.evaluation.matching.objects_filter import filter_objects
-from perception_eval.evaluation.metrics.tracking.clear import CLEAR
-from perception_eval.evaluation.result.object_result import DynamicObjectWithPerceptionResult
-from perception_eval.evaluation.result.object_result import get_object_results
+from perception_eval.matching import MatchingMode
+from perception_eval.matching.objects_filter import filter_objects
+from perception_eval.metrics.tracking.clear import CLEAR
+from perception_eval.object import DynamicObject
+from perception_eval.result import DynamicObjectWithPerceptionResult
+from perception_eval.result import get_object_results
 from perception_eval.util.debug import get_objects_with_difference
 
 
diff --git a/perception_eval/test/evaluation/metrics/tracking/test_tracking_metrics_score.py b/perception_eval/test/metrics/tracking/test_tracking_metrics_score.py
similarity index 96%
rename from perception_eval/test/evaluation/metrics/tracking/test_tracking_metrics_score.py
rename to perception_eval/test/metrics/tracking/test_tracking_metrics_score.py
index b9345a10..45a375e5 100644
--- a/perception_eval/test/evaluation/metrics/tracking/test_tracking_metrics_score.py
+++ b/perception_eval/test/metrics/tracking/test_tracking_metrics_score.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-from test.evaluation.metrics.tracking.test_clear import AnswerCLEAR
+from test.metrics.tracking.test_clear import AnswerCLEAR
 from test.util.dummy_object import make_dummy_data
 from test.util.object_diff import DiffTranslation
 from test.util.object_diff import DiffYaw
@@ -23,14 +23,14 @@
 
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import AutowareLabel
-from perception_eval.common.object import DynamicObject
-from perception_eval.evaluation.matching.object_matching import MatchingMode
-from perception_eval.evaluation.matching.objects_filter import divide_objects
-from perception_eval.evaluation.matching.objects_filter import divide_objects_to_num
-from perception_eval.evaluation.matching.objects_filter import filter_objects
-from perception_eval.evaluation.metrics.tracking.tracking_metrics_score import TrackingMetricsScore
-from perception_eval.evaluation.result.object_result import DynamicObjectWithPerceptionResult
-from perception_eval.evaluation.result.object_result import get_object_results
+from perception_eval.matching import MatchingMode
+from perception_eval.matching.objects_filter import divide_objects
+from perception_eval.matching.objects_filter import divide_objects_to_num
+from perception_eval.matching.objects_filter import filter_objects
+from perception_eval.metrics.tracking.tracking_metrics_score import TrackingMetricsScore
+from perception_eval.object import DynamicObject
+from perception_eval.result import DynamicObjectWithPerceptionResult
+from perception_eval.result import get_object_results
 from perception_eval.util.debug import get_objects_with_difference
 
 
diff --git a/perception_eval/test/object/__init__.py b/perception_eval/test/object/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/perception_eval/test/common/test_object.py b/perception_eval/test/object/test_object.py
similarity index 98%
rename from perception_eval/test/common/test_object.py
rename to perception_eval/test/object/test_object.py
index 09d24473..809ffae4 100644
--- a/perception_eval/test/common/test_object.py
+++ b/perception_eval/test/object/test_object.py
@@ -19,9 +19,9 @@
 import unittest
 
 import numpy as np
-from perception_eval.common.object import distance_objects
-from perception_eval.common.object import distance_objects_bev
-from perception_eval.common.object import DynamicObject
+from perception_eval.object import distance_objects
+from perception_eval.object import distance_objects_bev
+from perception_eval.object import DynamicObject
 from perception_eval.util.debug import get_objects_with_difference
 from shapely.geometry import Polygon
 
diff --git a/perception_eval/test/perception_field_analysis.py b/perception_eval/test/perception_field_analysis.py
index a13bba33..93ef5c45 100644
--- a/perception_eval/test/perception_field_analysis.py
+++ b/perception_eval/test/perception_field_analysis.py
@@ -22,8 +22,6 @@
 import numpy as np
 from perception_eval.tool import PerceptionAnalyzer3DField
 from perception_eval.tool import PerceptionFieldAxis
-from perception_eval.tool import PerceptionFieldXY
-from perception_eval.visualization.perception_visualizer3dfield import PerceptionFieldPlot
 from perception_eval.visualization.perception_visualizer3dfield import PerceptionFieldPlots
 
 
diff --git a/perception_eval/test/perception_field_points_analysis.py b/perception_eval/test/perception_field_points_analysis.py
index b95a86a6..2fec1de8 100644
--- a/perception_eval/test/perception_field_points_analysis.py
+++ b/perception_eval/test/perception_field_points_analysis.py
@@ -23,7 +23,7 @@
 import numpy as np
 from perception_eval.tool import DataTableIdx
 from perception_eval.tool import PerceptionAnalyzer3DField
-from perception_eval.visualization.perception_visualizer3dfield import PerceptionFieldPlot
+from perception_eval.visualization import PerceptionFieldPlot
 
 
 class PerceptionLoadDatabaseResult:
diff --git a/perception_eval/test/perception_fp_validation_lsim.py b/perception_eval/test/perception_fp_validation_lsim.py
index dd5cadcd..6c69ab8a 100644
--- a/perception_eval/test/perception_fp_validation_lsim.py
+++ b/perception_eval/test/perception_fp_validation_lsim.py
@@ -12,23 +12,28 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 import argparse
 import logging
 import tempfile
 from typing import List
+from typing import TYPE_CHECKING
 
 from perception_eval.common.label import AutowareLabel
-from perception_eval.common.object import ObjectType
 from perception_eval.common.status import get_scene_rates
 from perception_eval.config import PerceptionEvaluationConfig
-from perception_eval.evaluation import get_object_status
-from perception_eval.evaluation import PerceptionFrameResult
-from perception_eval.evaluation.result.perception_frame_config import CriticalObjectFilterConfig
-from perception_eval.evaluation.result.perception_frame_config import PerceptionPassFailConfig
 from perception_eval.manager import PerceptionEvaluationManager
+from perception_eval.result import CriticalObjectFilterConfig
+from perception_eval.result import get_object_status
+from perception_eval.result import PerceptionPassFailConfig
 from perception_eval.util.debug import get_objects_with_difference
 from perception_eval.util.logger_config import configure_logger
 
+if TYPE_CHECKING:
+    from perception_eval.object import ObjectType
+    from perception_eval.result import PerceptionFrameResult
+
 
 class FPValidationLsimMoc:
     def __init__(self, dataset_paths: List[int], result_root_directory: str) -> None:
diff --git a/perception_eval/test/perception_lsim.py b/perception_eval/test/perception_lsim.py
index a316f05b..8808eb05 100644
--- a/perception_eval/test/perception_lsim.py
+++ b/perception_eval/test/perception_lsim.py
@@ -12,23 +12,28 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 import argparse
 import logging
 import tempfile
 from typing import List
+from typing import TYPE_CHECKING
 
-from perception_eval.common.object import DynamicObject
 from perception_eval.config import PerceptionEvaluationConfig
-from perception_eval.evaluation import PerceptionFrameResult
-from perception_eval.evaluation.metrics import MetricsScore
-from perception_eval.evaluation.result.perception_frame_config import CriticalObjectFilterConfig
-from perception_eval.evaluation.result.perception_frame_config import PerceptionPassFailConfig
 from perception_eval.manager import PerceptionEvaluationManager
+from perception_eval.result import CriticalObjectFilterConfig
+from perception_eval.result import PerceptionFrameResult
+from perception_eval.result import PerceptionPassFailConfig
 from perception_eval.tool import PerceptionAnalyzer3D
 from perception_eval.util.debug import format_class_for_log
 from perception_eval.util.debug import get_objects_with_difference
 from perception_eval.util.logger_config import configure_logger
 
+if TYPE_CHECKING:
+    from perception_eval.metrics import MetricsScore
+    from perception_eval.object import DynamicObject
+
 
 class PerceptionLSimMoc:
     def __init__(
@@ -106,7 +111,7 @@ def callback(
         # 1 frameの評価
         # 距離などでUC評価objectを選別するためのインターフェイス（PerceptionEvaluationManager初期化時にConfigを設定せず、関数受け渡しにすることで動的に変更可能なInterface）
         # どれを注目物体とするかのparam
-        critical_object_filter_config: CriticalObjectFilterConfig = CriticalObjectFilterConfig(
+        critical_object_filter_config = CriticalObjectFilterConfig(
             evaluator_config=self.evaluator.evaluator_config,
             target_labels=["car", "bicycle", "pedestrian", "motorbike"],
             ignore_attributes=["cycle_state.without_rider"],
@@ -114,7 +119,7 @@ def callback(
             max_y_position_list=[30.0, 30.0, 30.0, 30.0],
         )
         # Pass fail を決めるパラメータ
-        frame_pass_fail_config: PerceptionPassFailConfig = PerceptionPassFailConfig(
+        frame_pass_fail_config = PerceptionPassFailConfig(
             evaluator_config=self.evaluator.evaluator_config,
             target_labels=["car", "bicycle", "pedestrian", "motorbike"],
             matching_threshold_list=[2.0, 2.0, 2.0, 2.0],
diff --git a/perception_eval/test/perception_lsim2d.py b/perception_eval/test/perception_lsim2d.py
index 6975cf41..dba83e3e 100644
--- a/perception_eval/test/perception_lsim2d.py
+++ b/perception_eval/test/perception_lsim2d.py
@@ -12,23 +12,28 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 import argparse
 import logging
 import tempfile
 from typing import List
+from typing import TYPE_CHECKING
 from typing import Union
 
-from perception_eval.common.object import DynamicObject2D
 from perception_eval.config import PerceptionEvaluationConfig
-from perception_eval.evaluation import PerceptionFrameResult
-from perception_eval.evaluation.metrics import MetricsScore
-from perception_eval.evaluation.result.perception_frame_config import CriticalObjectFilterConfig
-from perception_eval.evaluation.result.perception_frame_config import PerceptionPassFailConfig
 from perception_eval.manager import PerceptionEvaluationManager
+from perception_eval.result import CriticalObjectFilterConfig
+from perception_eval.result import PerceptionPassFailConfig
 from perception_eval.tool import PerceptionAnalyzer2D
 from perception_eval.util.debug import get_objects_with_difference2d
 from perception_eval.util.logger_config import configure_logger
 
+if TYPE_CHECKING:
+    from perception_eval.metrics import MetricsScore
+    from perception_eval.object import DynamicObject2D
+    from perception_eval.result import PerceptionFrameResult
+
 
 class PerceptionLSimMoc:
     def __init__(
diff --git a/perception_eval/test/evaluation/result/test_object_result.py b/perception_eval/test/result/test_object_result.py
similarity index 94%
rename from perception_eval/test/evaluation/result/test_object_result.py
rename to perception_eval/test/result/test_object_result.py
index 34b02676..c4faaf68 100644
--- a/perception_eval/test/evaluation/result/test_object_result.py
+++ b/perception_eval/test/result/test_object_result.py
@@ -20,9 +20,9 @@
 import unittest
 
 from perception_eval.common.evaluation_task import EvaluationTask
-from perception_eval.common.object import DynamicObject
-from perception_eval.evaluation.result.object_result import DynamicObjectWithPerceptionResult
-from perception_eval.evaluation.result.object_result import get_object_results
+from perception_eval.object import DynamicObject
+from perception_eval.result import DynamicObjectWithPerceptionResult
+from perception_eval.result import get_object_results
 from perception_eval.util.debug import get_objects_with_difference
 
 
diff --git a/perception_eval/test/evaluation/sensing/test_sensing_result.py b/perception_eval/test/result/test_sensing_result.py
similarity index 92%
rename from perception_eval/test/evaluation/sensing/test_sensing_result.py
rename to perception_eval/test/result/test_sensing_result.py
index 67f7d0ff..05c412bf 100644
--- a/perception_eval/test/evaluation/sensing/test_sensing_result.py
+++ b/perception_eval/test/result/test_sensing_result.py
@@ -15,7 +15,7 @@
 from test.util.dummy_object import make_dummy_data
 
 import numpy as np
-from perception_eval.evaluation.sensing.sensing_result import DynamicObjectWithSensingResult
+from perception_eval.result import DynamicObjectWithSensingResult
 
 
 def test_get_nearest_point():
diff --git a/perception_eval/test/sensing_lsim.py b/perception_eval/test/sensing_lsim.py
index 0d420916..b957b89d 100644
--- a/perception_eval/test/sensing_lsim.py
+++ b/perception_eval/test/sensing_lsim.py
@@ -20,11 +20,11 @@
 from typing import Tuple
 
 import numpy as np
-from perception_eval.common.dataset import FrameGroundTruth
 from perception_eval.config import SensingEvaluationConfig
-from perception_eval.evaluation.sensing.sensing_frame_config import SensingFrameConfig
-from perception_eval.evaluation.sensing.sensing_frame_result import SensingFrameResult
+from perception_eval.dataset import FrameGroundTruth
 from perception_eval.manager import SensingEvaluationManager
+from perception_eval.result import SensingFrameConfig
+from perception_eval.result import SensingFrameResult
 from perception_eval.util.logger_config import configure_logger
 
 
diff --git a/perception_eval/test/util/dummy_object.py b/perception_eval/test/util/dummy_object.py
index 251adc7f..064bf41e 100644
--- a/perception_eval/test/util/dummy_object.py
+++ b/perception_eval/test/util/dummy_object.py
@@ -18,11 +18,11 @@
 
 from perception_eval.common.label import AutowareLabel
 from perception_eval.common.label import Label
-from perception_eval.common.object import DynamicObject
-from perception_eval.common.object import DynamicObject2D
 from perception_eval.common.schema import FrameID
 from perception_eval.common.shape import Shape
 from perception_eval.common.shape import ShapeType
+from perception_eval.object import DynamicObject
+from perception_eval.object import DynamicObject2D
 from pyquaternion.quaternion import Quaternion
 
 
diff --git a/perception_eval/test/visualization/test_eda_tool.py b/perception_eval/test/visualization/test_eda_tool.py
index d35fb920..cfebf71f 100644
--- a/perception_eval/test/visualization/test_eda_tool.py
+++ b/perception_eval/test/visualization/test_eda_tool.py
@@ -23,13 +23,13 @@
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import AutowareLabel
 from perception_eval.common.label import Label
-from perception_eval.common.object import DynamicObject
 from perception_eval.common.schema import FrameID
 from perception_eval.common.shape import Shape
 from perception_eval.common.shape import ShapeType
-from perception_eval.evaluation.matching.object_matching import MatchingMode
-from perception_eval.evaluation.result.object_result import DynamicObjectWithPerceptionResult
-from perception_eval.evaluation.result.object_result import get_object_results
+from perception_eval.matching import MatchingMode
+from perception_eval.object import DynamicObject
+from perception_eval.result import DynamicObjectWithPerceptionResult
+from perception_eval.result import get_object_results
 from perception_eval.util.debug import get_objects_with_difference
 from perception_eval.visualization.eda_tool import EDAManager
 from perception_eval.visualization.eda_tool import EDAVisualizer

From 5aa5fb1ddf93c1b254ef21ac75e83e67ced0925b Mon Sep 17 00:00:00 2001
From: Kotaro Uetake <60615504+ktro2828@users.noreply.github.com>
Date: Tue, 19 Dec 2023 22:51:11 +0900
Subject: [PATCH 3/9] =?UTF-8?q?refactor:=20create=20new=20`label`=20direct?=
 =?UTF-8?q?ory=20and=20separate=20modules=20and=20renam=E2=80=A6=20(#112)?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

* refactor: create new `label` directory and separate modules and rename `Label` into `SemanticLabel`

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

* docs: update dead links

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

---------

Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>
---
 docs/en/perception/label.md                   |   2 +-
 docs/ja/perception/label.md                   |   2 +-
 .../perception_eval/common/label/__init__.py  |  17 ++
 .../common/{label.py => label/converter.py}   | 162 ++----------------
 .../perception_eval/common/label/types.py     | 141 +++++++++++++++
 .../perception_eval/common/label/utils.py     |  34 ++++
 .../perception_eval/common/threshold.py       |  16 +-
 .../perception_eval/dataset/utils.py          |   4 +-
 .../matching/objects_filter.py                |  10 +-
 .../perception_eval/object/object2d.py        |  34 ++--
 .../perception_eval/object/object3d.py        |  37 ++--
 perception_eval/perception_eval/util/debug.py |  12 +-
 perception_eval/test/common/test_threshold.py |   8 +-
 .../test/matching/test_objects_filter.py      |  24 +--
 perception_eval/test/util/dummy_object.py     |  30 ++--
 .../test/visualization/test_eda_tool.py       |  18 +-
 16 files changed, 305 insertions(+), 246 deletions(-)
 create mode 100644 perception_eval/perception_eval/common/label/__init__.py
 rename perception_eval/perception_eval/common/{label.py => label/converter.py} (68%)
 create mode 100644 perception_eval/perception_eval/common/label/types.py
 create mode 100644 perception_eval/perception_eval/common/label/utils.py

diff --git a/docs/en/perception/label.md b/docs/en/perception/label.md
index 34abf44e..00f70e4d 100644
--- a/docs/en/perception/label.md
+++ b/docs/en/perception/label.md
@@ -1,6 +1,6 @@
 # Object Labels
 
-- For the details, see [perception_eval.common.label.py](../../../perception_eval/perception_eval/common/label.py)
+- For the details, see [perception_eval.common.label.types.py](../../../perception_eval/perception_eval/common/label/types.py)
 
 ## `AutowareLabel`
 
diff --git a/docs/ja/perception/label.md b/docs/ja/perception/label.md
index 6a89d2af..c2d8dfe9 100644
--- a/docs/ja/perception/label.md
+++ b/docs/ja/perception/label.md
@@ -1,6 +1,6 @@
 # オブジェクト　ラベル
 
-- 詳細は[perception_eval.common.label.py](../../../perception_eval/perception_eval/common/label.py)を参照
+- 詳細は[perception_eval.common.label.types.py](../../../perception_eval/perception_eval/common/label/types.py)を参照
 
 ## Autoware Label
 
diff --git a/perception_eval/perception_eval/common/label/__init__.py b/perception_eval/perception_eval/common/label/__init__.py
new file mode 100644
index 00000000..7c46f87a
--- /dev/null
+++ b/perception_eval/perception_eval/common/label/__init__.py
@@ -0,0 +1,17 @@
+from .converter import LabelConverter
+from .types import AutowareLabel
+from .types import CommonLabel
+from .types import LabelType
+from .types import SemanticLabel
+from .types import TrafficLightLabel
+from .utils import set_target_lists
+
+__all__ = (
+    "LabelConverter",
+    "AutowareLabel",
+    "CommonLabel",
+    "LabelType",
+    "SemanticLabel",
+    "TrafficLightLabel",
+    "set_target_lists",
+)
diff --git a/perception_eval/perception_eval/common/label.py b/perception_eval/perception_eval/common/label/converter.py
similarity index 68%
rename from perception_eval/perception_eval/common/label.py
rename to perception_eval/perception_eval/common/label/converter.py
index cc42c942..f2fa2748 100644
--- a/perception_eval/perception_eval/common/label.py
+++ b/perception_eval/perception_eval/common/label/converter.py
@@ -15,82 +15,21 @@
 from __future__ import annotations
 
 from dataclasses import dataclass
-from enum import Enum
 import logging
 from typing import List
 from typing import Optional
 from typing import Tuple
+from typing import TYPE_CHECKING
 from typing import Union
 
 from perception_eval.common.evaluation_task import EvaluationTask
 
+from .types import AutowareLabel
+from .types import SemanticLabel
+from .types import TrafficLightLabel
 
-class AutowareLabel(Enum):
-    """[summary]
-    Autoware label enum.
-    See https://github.com/tier4/autoware_iv_msgs/blob/main/autoware_perception_msgs/msg/object_recognition/Semantic.msg
-    """
-
-    UNKNOWN = "unknown"
-    CAR = "car"
-    TRUCK = "truck"
-    BUS = "bus"
-    BICYCLE = "bicycle"
-    MOTORBIKE = "motorbike"
-    PEDESTRIAN = "pedestrian"
-    ANIMAL = "animal"
-
-    # for FP validation
-    FP = "false_positive"
-
-    def __str__(self) -> str:
-        return self.value
-
-
-class TrafficLightLabel(Enum):
-    # except of classification
-    TRAFFIC_LIGHT = "traffic_light"
-
-    # classification
-    GREEN = "green"
-    RED = "red"
-    YELLOW = "yellow"
-    RED_STRAIGHT = "red_straight"
-    RED_LEFT = "red_left"
-    RED_LEFT_STRAIGHT = "red_left_straight"
-    RED_LEFT_DIAGONAL = "red_left_diagonal"
-    RED_RIGHT = "red_right"
-    RED_RIGHT_STRAIGHT = "red_right_straight"
-    RED_RIGHT_DIAGONAL = "red_right_diagonal"
-    YELLOW_RIGHT = "yellow_right"
-
-    # unknown is used in both detection and classification
-    UNKNOWN = "unknown"
-
-    # for FP validation
-    FP = "false_positive"
-
-    def __str__(self) -> str:
-        return self.value
-
-
-class CommonLabel(Enum):
-    UNKNOWN = (AutowareLabel.UNKNOWN, TrafficLightLabel.UNKNOWN)
-    FP = (AutowareLabel.FP, TrafficLightLabel.FP)
-
-    def __eq__(self, label: LabelType) -> bool:
-        return label in self.value
-
-    def __str__(self) -> str:
-        if self == CommonLabel.UNKNOWN:
-            return "unknown"
-        elif self == CommonLabel.FP:
-            return "false_positive"
-        else:
-            raise ValueError(f"Unexpected element: {self}")
-
-
-LabelType = Union[AutowareLabel, TrafficLightLabel]
+if TYPE_CHECKING:
+    from .types import LabelType
 
 
 @dataclass
@@ -108,60 +47,6 @@ class LabelInfo:
     num: int = 0
 
 
-class Label:
-    """
-    Attributes:
-        label (LabelType): Corresponding label.
-        name (str): Label before converted.
-        attributes (List[str]): List of attributes. Defaults to [].
-
-    Args:
-        label (LabelType): LabelType instance.
-        name (str): Original label name.
-        attributes (List[str]): List of attributes. Defaults to [].
-    """
-
-    def __init__(self, label: LabelType, name: str, attributes: List[str] = []) -> None:
-        self.label: LabelType = label
-        self.name: str = name
-        self.attributes: List[str] = attributes
-
-    def contains(self, key: str) -> bool:
-        """Check whether self.name contains input attribute.
-
-        Args:
-            key (str): Target name or attribute.
-
-        Returns:
-            bool: Indicates whether input self.name contains input attribute.
-        """
-        assert isinstance(key, str), f"Expected type is str, but got {type(key)}"
-        return key in self.name or key in self.attributes
-
-    def contains_any(self, keys: List[str]) -> bool:
-        assert isinstance(keys, (list, tuple)), f"Expected type is sequence, but got {type(keys)}"
-        return any([self.contains(key) for key in keys])
-
-    def is_fp(self) -> bool:
-        """Returns `True`, if myself is `false_positive` label.
-
-        Returns:
-            bool: Whether myself is `false_positive`.
-        """
-        return self.label == CommonLabel.FP
-
-    def is_unknown(self) -> bool:
-        """Returns `True`, if myself is `unknown` label.
-
-        Returns:
-            bool: Whether myself is `unknown`.
-        """
-        return self.label == CommonLabel.UNKNOWN
-
-    def __eq__(self, other: Label) -> bool:
-        return self.label == other.label
-
-
 class LabelConverter:
     """A class to convert string label name to LabelType instance.
 
@@ -208,7 +93,7 @@ def __init__(
         else:
             raise ValueError(f"Unexpected `label_prefix`: {label_prefix}")
 
-        self.label_infos: List[LabelInfo] = [LabelInfo(label, name) for label, name in pair_list]
+        self.label_infos = [LabelInfo(label, name) for label, name in pair_list]
 
         logging.debug(f"label {self.label_infos}")
 
@@ -216,7 +101,7 @@ def convert_label(
         self,
         name: str,
         attributes: List[str] = [],
-    ) -> Label:
+    ) -> SemanticLabel:
         """Convert label name and attributes to Label instance.
 
         Args:
@@ -227,18 +112,18 @@ def convert_label(
         Returns:
             Label: Converted label.
         """
-        return_label: Optional[Label] = None
+        return_label: Optional[SemanticLabel] = None
         for label_info in self.label_infos:
             if name.lower() == label_info.name:
                 if self.count_label_number:
                     label_info.num += 1
                     if return_label is not None:
                         logging.error(f"Label {name} is already converted to {return_label}.")
-                return_label = Label(label_info.label, name, attributes)
+                return_label = SemanticLabel(label_info.label, name, attributes)
                 break
         if return_label is None:
             logging.warning(f"Label {name} is not registered.")
-            return_label = Label(self.label_type.UNKNOWN, name, attributes)
+            return_label = SemanticLabel(self.label_type.UNKNOWN, name, attributes)
         return return_label
 
     def convert_name(self, name: str) -> LabelType:
@@ -372,28 +257,3 @@ def _get_traffic_light_paris(
             (TrafficLightLabel.FP, "false_positive"),
         ]
     return pair_list
-
-
-def set_target_lists(
-    target_labels: Optional[List[str]],
-    label_converter: LabelConverter,
-) -> List[LabelType]:
-    """Returns a LabelType list from a list of label names in string.
-
-    If no label is specified, returns all LabelType elements.
-
-    Args:
-        target_labels (List[str]): The target class to evaluate
-        label_converter (LabelConverter): Label Converter class
-
-    Returns:
-        List[LabelType]:  LabelType instance list.
-
-    Examples:
-        >>> converter = LabelConverter(False, "autoware")
-        >>> set_target_lists(["car", "pedestrian"], converter)
-        [<AutowareLabel.CAR: 'car'>, <AutowareLabel.PEDESTRIAN: 'pedestrian'>]
-    """
-    if target_labels is None or len(target_labels) == 0:
-        return [label for label in label_converter.label_type]
-    return [label_converter.convert_name(name) for name in target_labels]
diff --git a/perception_eval/perception_eval/common/label/types.py b/perception_eval/perception_eval/common/label/types.py
new file mode 100644
index 00000000..0b439fca
--- /dev/null
+++ b/perception_eval/perception_eval/common/label/types.py
@@ -0,0 +1,141 @@
+# Copyright 2022 TIER IV, Inc.
+
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+
+#     http://www.apache.org/licenses/LICENSE-2.0
+
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from __future__ import annotations
+
+from enum import Enum
+from typing import List
+from typing import Union
+
+
+class AutowareLabel(Enum):
+    """[summary]
+    Autoware label enum.
+    See https://github.com/tier4/autoware_iv_msgs/blob/main/autoware_perception_msgs/msg/object_recognition/Semantic.msg
+    """
+
+    UNKNOWN = "unknown"
+    CAR = "car"
+    TRUCK = "truck"
+    BUS = "bus"
+    BICYCLE = "bicycle"
+    MOTORBIKE = "motorbike"
+    PEDESTRIAN = "pedestrian"
+    ANIMAL = "animal"
+
+    # for FP validation
+    FP = "false_positive"
+
+    def __str__(self) -> str:
+        return self.value
+
+
+class TrafficLightLabel(Enum):
+    # except of classification
+    TRAFFIC_LIGHT = "traffic_light"
+
+    # classification
+    GREEN = "green"
+    RED = "red"
+    YELLOW = "yellow"
+    RED_STRAIGHT = "red_straight"
+    RED_LEFT = "red_left"
+    RED_LEFT_STRAIGHT = "red_left_straight"
+    RED_LEFT_DIAGONAL = "red_left_diagonal"
+    RED_RIGHT = "red_right"
+    RED_RIGHT_STRAIGHT = "red_right_straight"
+    RED_RIGHT_DIAGONAL = "red_right_diagonal"
+    YELLOW_RIGHT = "yellow_right"
+
+    # unknown is used in both detection and classification
+    UNKNOWN = "unknown"
+
+    # for FP validation
+    FP = "false_positive"
+
+    def __str__(self) -> str:
+        return self.value
+
+
+class CommonLabel(Enum):
+    UNKNOWN = (AutowareLabel.UNKNOWN, TrafficLightLabel.UNKNOWN)
+    FP = (AutowareLabel.FP, TrafficLightLabel.FP)
+
+    def __eq__(self, label: LabelType) -> bool:
+        return label in self.value
+
+    def __str__(self) -> str:
+        if self == CommonLabel.UNKNOWN:
+            return "unknown"
+        elif self == CommonLabel.FP:
+            return "false_positive"
+        else:
+            raise ValueError(f"Unexpected element: {self}")
+
+
+LabelType = Union[AutowareLabel, TrafficLightLabel]
+
+
+class SemanticLabel:
+    """
+    Attributes:
+        label (LabelType): Corresponding label.
+        name (str): Label before converted.
+        attributes (List[str]): List of attributes. Defaults to [].
+
+    Args:
+        label (LabelType): LabelType instance.
+        name (str): Original label name.
+        attributes (List[str]): List of attributes. Defaults to [].
+    """
+
+    def __init__(self, label: LabelType, name: str, attributes: List[str] = []) -> None:
+        self.label = label
+        self.name = name
+        self.attributes = attributes
+
+    def contains(self, key: str) -> bool:
+        """Check whether self.name contains input attribute.
+
+        Args:
+            key (str): Target name or attribute.
+
+        Returns:
+            bool: Indicates whether input self.name contains input attribute.
+        """
+        assert isinstance(key, str), f"Expected type is str, but got {type(key)}"
+        return key in self.name or key in self.attributes
+
+    def contains_any(self, keys: List[str]) -> bool:
+        assert isinstance(keys, (list, tuple)), f"Expected type is sequence, but got {type(keys)}"
+        return any([self.contains(key) for key in keys])
+
+    def is_fp(self) -> bool:
+        """Returns `True`, if myself is `false_positive` label.
+
+        Returns:
+            bool: Whether myself is `false_positive`.
+        """
+        return self.label == CommonLabel.FP
+
+    def is_unknown(self) -> bool:
+        """Returns `True`, if myself is `unknown` label.
+
+        Returns:
+            bool: Whether myself is `unknown`.
+        """
+        return self.label == CommonLabel.UNKNOWN
+
+    def __eq__(self, other: SemanticLabel) -> bool:
+        return self.label == other.label
diff --git a/perception_eval/perception_eval/common/label/utils.py b/perception_eval/perception_eval/common/label/utils.py
new file mode 100644
index 00000000..7f58d6ec
--- /dev/null
+++ b/perception_eval/perception_eval/common/label/utils.py
@@ -0,0 +1,34 @@
+from __future__ import annotations
+
+from typing import List
+from typing import Optional
+from typing import TYPE_CHECKING
+
+if TYPE_CHECKING:
+    from .converter import LabelConverter
+    from .types import LabelType
+
+
+def set_target_lists(
+    target_labels: Optional[List[str]],
+    label_converter: LabelConverter,
+) -> List[LabelType]:
+    """Returns a LabelType list from a list of label names in string.
+
+    If no label is specified, returns all LabelType elements.
+
+    Args:
+        target_labels (List[str]): The target class to evaluate
+        label_converter (LabelConverter): Label Converter class
+
+    Returns:
+        List[LabelType]:  LabelType instance list.
+
+    Examples:
+        >>> converter = LabelConverter(False, "autoware")
+        >>> set_target_lists(["car", "pedestrian"], converter)
+        [<AutowareLabel.CAR: 'car'>, <AutowareLabel.PEDESTRIAN: 'pedestrian'>]
+    """
+    if target_labels is None or len(target_labels) == 0:
+        return [label for label in label_converter.label_type]
+    return [label_converter.convert_name(name) for name in target_labels]
diff --git a/perception_eval/perception_eval/common/threshold.py b/perception_eval/perception_eval/common/threshold.py
index 9bca17fe..2b4677de 100644
--- a/perception_eval/perception_eval/common/threshold.py
+++ b/perception_eval/perception_eval/common/threshold.py
@@ -12,13 +12,17 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 from numbers import Real
 from typing import List
 from typing import Optional
+from typing import TYPE_CHECKING
 from typing import Union
 
-from perception_eval.common.label import Label
-from perception_eval.common.label import LabelType
+if TYPE_CHECKING:
+    from perception_eval.common.label import LabelType
+    from perception_eval.common.label import SemanticLabel
 
 
 class LabelThreshold:
@@ -35,11 +39,11 @@ class LabelThreshold:
 
     def __init__(
         self,
-        semantic_label: Label,
+        semantic_label: SemanticLabel,
         target_labels: Optional[List[LabelType]],
     ) -> None:
-        self.semantic_label: Label = semantic_label
-        self.target_labels: Optional[List[LabelType]] = target_labels
+        self.semantic_label = semantic_label
+        self.target_labels = target_labels
 
     def get_label_threshold(
         self,
@@ -69,7 +73,7 @@ def get_label_threshold(
 
 
 def get_label_threshold(
-    semantic_label: Label,
+    semantic_label: SemanticLabel,
     target_labels: Optional[List[LabelType]],
     threshold_list: Optional[List[float]],
 ) -> Optional[float]:
diff --git a/perception_eval/perception_eval/dataset/utils.py b/perception_eval/perception_eval/dataset/utils.py
index f8205d85..fdf19586 100644
--- a/perception_eval/perception_eval/dataset/utils.py
+++ b/perception_eval/perception_eval/dataset/utils.py
@@ -42,9 +42,9 @@
 from .load import FrameGroundTruth
 
 if TYPE_CHECKING:
-    from perception_eval.common.label import Label
     from perception_eval.common.label import LabelConverter
     from perception_eval.common.label import LabelType
+    from perception_eval.common.label import SemanticLabel
 
 #################################
 #           Dataset 3D          #
@@ -152,7 +152,7 @@ def _convert_nuscenes_box_to_dynamic_object(
     object_box: Box,
     unix_time: int,
     evaluation_task: EvaluationTask,
-    semantic_label: Label,
+    semantic_label: SemanticLabel,
     instance_token: str,
     sample_token: str,
     visibility: Optional[Visibility] = None,
diff --git a/perception_eval/perception_eval/matching/objects_filter.py b/perception_eval/perception_eval/matching/objects_filter.py
index 23e4834d..e765d7e6 100644
--- a/perception_eval/perception_eval/matching/objects_filter.py
+++ b/perception_eval/perception_eval/matching/objects_filter.py
@@ -32,8 +32,8 @@
 from perception_eval.result.perception.perception_result import DynamicObjectWithPerceptionResult
 
 if TYPE_CHECKING:
-    from perception_eval.common.label import Label
     from perception_eval.common.label import LabelType
+    from perception_eval.common.label import SemanticLabel
     from perception_eval.matching import MatchingMode
     from perception_eval.object import ObjectType
 
@@ -137,7 +137,7 @@ def filter_object_results(
 def filter_objects(
     objects: List[ObjectType],
     is_gt: bool,
-    target_labels: Optional[List[Label]] = None,
+    target_labels: Optional[List[SemanticLabel]] = None,
     ignore_attributes: Optional[List[str]] = None,
     max_x_position_list: Optional[List[float]] = None,
     max_y_position_list: Optional[List[float]] = None,
@@ -212,7 +212,7 @@ def filter_objects(
 
 def get_positive_objects(
     object_results: List[DynamicObjectWithPerceptionResult],
-    target_labels: List[Label],
+    target_labels: List[SemanticLabel],
     matching_mode: Optional[MatchingMode] = None,
     matching_threshold_list: Optional[List[float]] = None,
 ) -> Tuple[List[DynamicObjectWithPerceptionResult], List[DynamicObjectWithPerceptionResult]]:
@@ -267,7 +267,7 @@ def get_positive_objects(
 def get_negative_objects(
     ground_truth_objects: List[ObjectType],
     object_results: List[DynamicObjectWithPerceptionResult],
-    target_labels: List[Label],
+    target_labels: List[LabelType],
     matching_mode: Optional[MatchingMode] = None,
     matching_threshold_list: Optional[List[float]] = None,
 ) -> Tuple[List[ObjectType], List[ObjectType]]:
@@ -394,7 +394,7 @@ def divide_tp_fp_objects(
             threshold_list=confidence_threshold_list,
         )
         if confidence_threshold_ is not None:
-            is_confidence: bool = object_result.estimated_object.semantic_score > confidence_threshold_
+            is_confidence = object_result.estimated_object.semantic_score > confidence_threshold_
             is_correct = is_correct and is_confidence
 
         if is_correct:
diff --git a/perception_eval/perception_eval/object/object2d.py b/perception_eval/perception_eval/object/object2d.py
index 678ec203..c211c7b2 100644
--- a/perception_eval/perception_eval/object/object2d.py
+++ b/perception_eval/perception_eval/object/object2d.py
@@ -17,13 +17,16 @@
 from typing import List
 from typing import Optional
 from typing import Tuple
+from typing import TYPE_CHECKING
 
 import numpy as np
-from perception_eval.common.label import Label
-from perception_eval.common.schema import FrameID
-from perception_eval.common.schema import Visibility
 from shapely.geometry import Polygon
 
+if TYPE_CHECKING:
+    from perception_eval.common.label import SemanticLabel
+    from perception_eval.common.schema import FrameID
+    from perception_eval.common.schema import Visibility
+
 
 class Roi:
     """Region of Interest; ROI class.
@@ -131,19 +134,19 @@ def __init__(
         unix_time: int,
         frame_id: FrameID,
         semantic_score: float,
-        semantic_label: Label,
+        semantic_label: SemanticLabel,
         roi: Optional[Tuple[int, int, int, int]] = None,
         uuid: Optional[str] = None,
         visibility: Optional[Visibility] = None,
     ) -> None:
         super().__init__()
-        self.unix_time: int = unix_time
-        self.frame_id: FrameID = frame_id
-        self.semantic_score: float = semantic_score
-        self.semantic_label: Label = semantic_label
-        self.roi: Optional[Roi] = Roi(roi) if roi is not None else None
-        self.uuid: Optional[str] = uuid
-        self.visibility: Optional[Visibility] = visibility
+        self.unix_time = unix_time
+        self.frame_id = frame_id
+        self.semantic_score = semantic_score
+        self.semantic_label = semantic_label
+        self.roi = Roi(roi) if roi is not None else None
+        self.uuid = uuid
+        self.visibility = visibility
 
     def get_corners(self) -> np.ndarray:
         """Returns the corners of bounding box in pixel.
@@ -151,8 +154,7 @@ def get_corners(self) -> np.ndarray:
         Returns:
             numpy.ndarray: (top_left, top_right, bottom_right, bottom_left), in shape (4, 2).
         """
-        if self.roi is None:
-            raise RuntimeError("self.roi is None.")
+        assert self.roi is not None, "self.roi is None."
         return self.roi.corners
 
     def get_area(self) -> int:
@@ -161,8 +163,7 @@ def get_area(self) -> int:
         Returns:
             int: Area of bounding box[px].
         """
-        if self.roi is None:
-            raise RuntimeError("self.roi is None.")
+        assert self.roi is not None, "self.roi is None."
         return self.roi.area
 
     def get_polygon(self) -> Polygon:
@@ -171,8 +172,7 @@ def get_polygon(self) -> Polygon:
         Returns:
             Polygon: Corners as Polygon. ((x0, y0), ..., (x0, y0))
         """
-        if self.roi is None:
-            raise RuntimeError("self.roi is None.")
+        assert self.roi is not None, "self.roi is None."
         corners: List[List[float]] = self.get_corners().tolist()
         corners.append(corners[0])
         return Polygon(corners)
diff --git a/perception_eval/perception_eval/object/object3d.py b/perception_eval/perception_eval/object/object3d.py
index ddfb8c5a..5f43c2db 100644
--- a/perception_eval/perception_eval/object/object3d.py
+++ b/perception_eval/perception_eval/object/object3d.py
@@ -18,19 +18,22 @@
 from typing import List
 from typing import Optional
 from typing import Tuple
+from typing import TYPE_CHECKING
 
 import numpy as np
-from perception_eval.common.label import Label
 from perception_eval.common.point import crop_pointcloud
 from perception_eval.common.point import polygon_to_list
 from perception_eval.common.schema import FrameID
-from perception_eval.common.schema import Visibility
-from perception_eval.common.shape import Shape
-from perception_eval.common.shape import ShapeType
 from perception_eval.util.math import rotation_matrix_to_euler
 from pyquaternion import Quaternion
 from shapely.geometry import Polygon
 
+if TYPE_CHECKING:
+    from perception_eval.common.label import SemanticLabel
+    from perception_eval.common.schema import Visibility
+    from perception_eval.common.shape import Shape
+    from perception_eval.common.shape import ShapeType
+
 
 class ObjectState:
     """Object state class.
@@ -57,7 +60,7 @@ def __init__(
     ) -> None:
         self.position: Tuple[float, float, float] = position
         self.orientation: Quaternion = orientation
-        self.shape: Shape = shape
+        self.shape = shape
         self.velocity: Optional[Tuple[float, float, float]] = velocity
 
     @property
@@ -138,7 +141,7 @@ def __init__(
         shape: Shape,
         velocity: Optional[Tuple[float, float, float]],
         semantic_score: float,
-        semantic_label: Label,
+        semantic_label: SemanticLabel,
         pointcloud_num: Optional[int] = None,
         uuid: Optional[str] = None,
         tracked_positions: Optional[List[Tuple[float, float, float]]] = None,
@@ -153,24 +156,24 @@ def __init__(
         visibility: Optional[Visibility] = None,
     ) -> None:
         # detection
-        self.unix_time: int = unix_time
-        self.frame_id: FrameID = frame_id
-        self.state: ObjectState = ObjectState(
+        self.unix_time = unix_time
+        self.frame_id = frame_id
+        self.state = ObjectState(
             position=position,
             orientation=orientation,
             shape=shape,
             velocity=velocity,
         )
-        self.semantic_score: float = semantic_score
-        self.semantic_label: Label = semantic_label
+        self.semantic_score = semantic_score
+        self.semantic_label = semantic_label
 
         # for detection label for case evaluation
         # pointcloud number inside bounding box
-        self.pointcloud_num: Optional[int] = pointcloud_num
+        self.pointcloud_num = pointcloud_num
 
         # tracking
-        self.uuid: Optional[str] = uuid
-        self.tracked_path: Optional[List[ObjectState]] = self._set_states(
+        self.uuid = uuid
+        self.tracked_path = self._set_states(
             positions=tracked_positions,
             orientations=tracked_orientations,
             shapes=tracked_shapes,
@@ -178,15 +181,15 @@ def __init__(
         )
 
         # prediction
-        self.predicted_confidence: Optional[float] = predicted_confidence
-        self.predicted_path: Optional[List[ObjectState]] = self._set_states(
+        self.predicted_confidence = predicted_confidence
+        self.predicted_path = self._set_states(
             positions=predicted_positions,
             orientations=predicted_orientations,
             shapes=predicted_shapes,
             twists=predicted_twists,
         )
 
-        self.visibility: Optional[Visibility] = visibility
+        self.visibility = visibility
 
     def __eq__(self, other: Optional[DynamicObject]) -> bool:
         """Check if other equals this object.
diff --git a/perception_eval/perception_eval/util/debug.py b/perception_eval/perception_eval/util/debug.py
index f8bb1378..f49f9b6a 100644
--- a/perception_eval/perception_eval/util/debug.py
+++ b/perception_eval/perception_eval/util/debug.py
@@ -21,8 +21,8 @@
 
 import numpy as np
 from perception_eval.common.label import AutowareLabel
-from perception_eval.common.label import Label
 from perception_eval.common.label import LabelType
+from perception_eval.common.label import SemanticLabel
 from perception_eval.common.label import TrafficLightLabel
 from perception_eval.common.shape import Shape
 from perception_eval.object import DynamicObject
@@ -187,10 +187,10 @@ def get_objects_with_difference(
                 label = AutowareLabel.UNKNOWN
             elif isinstance(object_.semantic_label.label, TrafficLightLabel):
                 label = TrafficLightLabel.UNKNOWN
-            semantic_label = Label(label, "unknown")
+            semantic_label = SemanticLabel(label, "unknown")
         if label_candidates is not None:
-            label: LabelType = random.choice(label_candidates)
-            semantic_label = Label(label, label.value)
+            label = random.choice(label_candidates)
+            semantic_label = SemanticLabel(label, label.value)
         else:
             semantic_label = object_.semantic_label
 
@@ -243,13 +243,13 @@ def get_objects_with_difference2d(
                 label = AutowareLabel.UNKNOWN
             elif isinstance(object_.semantic_label.label, TrafficLightLabel):
                 label = TrafficLightLabel.UNKNOWN
-            semantic_label = Label(label, "unknown")
+            semantic_label = SemanticLabel(label, "unknown")
         else:
             semantic_label = object_.semantic_label
 
         if label_candidates is not None:
             label: LabelType = random.choice(label_candidates)
-            semantic_label = Label(label, label.value)
+            semantic_label = SemanticLabel(label, label.value)
         else:
             semantic_label = object_.semantic_label
 
diff --git a/perception_eval/test/common/test_threshold.py b/perception_eval/test/common/test_threshold.py
index 87465b00..d6c7091a 100644
--- a/perception_eval/test/common/test_threshold.py
+++ b/perception_eval/test/common/test_threshold.py
@@ -17,7 +17,7 @@
 import unittest
 
 from perception_eval.common.label import AutowareLabel
-from perception_eval.common.label import Label
+from perception_eval.common.label import SemanticLabel
 from perception_eval.common.threshold import check_nested_thresholds
 from perception_eval.common.threshold import check_thresholds
 from perception_eval.common.threshold import get_label_threshold
@@ -45,9 +45,9 @@ def test_get_label_threshold(self):
 
         # patterns: (semantic_label,  ans_threshold)
         patterns: List[Tuple[AutowareLabel, float]] = [
-            (Label(AutowareLabel.CAR, "car", []), 0.1),
-            (Label(AutowareLabel.BUS, "bus", []), 0.2),
-            (Label(AutowareLabel.PEDESTRIAN, "pedestrian", []), 0.3),
+            (SemanticLabel(AutowareLabel.CAR, "car", []), 0.1),
+            (SemanticLabel(AutowareLabel.BUS, "bus", []), 0.2),
+            (SemanticLabel(AutowareLabel.PEDESTRIAN, "pedestrian", []), 0.3),
         ]
         for semantic_label, ans_threshold in patterns:
             with self.subTest("Test get_label_thresholds"):
diff --git a/perception_eval/test/matching/test_objects_filter.py b/perception_eval/test/matching/test_objects_filter.py
index f1af3493..1358ebef 100644
--- a/perception_eval/test/matching/test_objects_filter.py
+++ b/perception_eval/test/matching/test_objects_filter.py
@@ -22,7 +22,7 @@
 import numpy as np
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import AutowareLabel
-from perception_eval.common.label import Label
+from perception_eval.common.label import SemanticLabel
 from perception_eval.matching import MatchingMode
 from perception_eval.matching.objects_filter import divide_objects
 from perception_eval.matching.objects_filter import divide_objects_to_num
@@ -204,8 +204,8 @@ def test_get_positive_objects(self) -> None:
                 np.array([(0, 0), (1, 1), (2, 2)]),
                 np.array([(3, None)]),
                 {
-                    0: Label(AutowareLabel.UNKNOWN, "unknown", []),
-                    3: Label(AutowareLabel.ANIMAL, "animal", []),
+                    0: SemanticLabel(AutowareLabel.UNKNOWN, "unknown", []),
+                    3: SemanticLabel(AutowareLabel.ANIMAL, "animal", []),
                 },
             ),
             # (3)
@@ -226,7 +226,7 @@ def test_get_positive_objects(self) -> None:
                 1.5,
                 np.array([(2, 0), (1, 1), (3, 3)]),
                 np.array([(0, None)]),
-                {2: Label(AutowareLabel.UNKNOWN, "unknown", [])},
+                {2: SemanticLabel(AutowareLabel.UNKNOWN, "unknown", [])},
             ),
             # (5)
             # TP: (Est[2], GT[0]), (Est[1], GT[1]), (Est[3], GT[3])
@@ -236,7 +236,7 @@ def test_get_positive_objects(self) -> None:
                 1.5,
                 np.array([(2, 0), (1, 1), (3, 3)]),
                 np.array([(0, None)]),
-                {2: Label(AutowareLabel.CAR, "car", [])},
+                {2: SemanticLabel(AutowareLabel.CAR, "car", [])},
             ),
             # (6)
             # TP:
@@ -405,8 +405,8 @@ def test_divide_tp_fp_objects(self):
                 np.array([(0, 0), (1, 1), (2, 2)]),
                 np.array([(3, None)]),
                 {
-                    "0": Label(AutowareLabel.UNKNOWN, "unknown", []),
-                    "3": Label(AutowareLabel.ANIMAL, "animal", []),
+                    "0": SemanticLabel(AutowareLabel.UNKNOWN, "unknown", []),
+                    "3": SemanticLabel(AutowareLabel.ANIMAL, "animal", []),
                 },
             ),
             # (3)
@@ -427,7 +427,7 @@ def test_divide_tp_fp_objects(self):
                 1.5,
                 np.array([(2, 0), (1, 1), (3, 3)]),
                 np.array([(0, None)]),
-                {"2": Label(AutowareLabel.UNKNOWN, "unknown", [])},
+                {"2": SemanticLabel(AutowareLabel.UNKNOWN, "unknown", [])},
             ),
             # (5)
             # TP: (Est[2], GT[0]), (Est[1], GT[1]), (Est[3], GT[3])
@@ -437,7 +437,7 @@ def test_divide_tp_fp_objects(self):
                 1.5,
                 np.array([(2, 0), (1, 1), (3, 3)]),
                 np.array([(0, None)]),
-                {"2": Label(AutowareLabel.CAR, "car", [])},
+                {"2": SemanticLabel(AutowareLabel.CAR, "car", [])},
             ),
             # (6)
             # TP:
@@ -607,8 +607,8 @@ def test_get_fn_objects_for_different_label(self):
                 0.0,
                 [3],
                 {
-                    "0": Label(AutowareLabel.UNKNOWN, "unknown", []),
-                    "3": Label(AutowareLabel.ANIMAL, "animal", []),
+                    "0": SemanticLabel(AutowareLabel.UNKNOWN, "unknown", []),
+                    "3": SemanticLabel(AutowareLabel.ANIMAL, "animal", []),
                 },
             ),
             # TODO(Shin-kyoto): 以下のtestも通る必要あり．現在，ground truth一つに対しestimated objectが複数紐づくため通らなくなっている
@@ -621,7 +621,7 @@ def test_get_fn_objects_for_different_label(self):
             # Given difference (1.5, 0.0), there are no fn.
             (1.5, 0.0, [], {}),
             # Given difference (1.5, 0.0) and 1 labels changed, 1 estimated_objects are fp.
-            (1.5, 0.0, [], {"1": Label(AutowareLabel.UNKNOWN, "unknown", [])}),
+            (1.5, 0.0, [], {"1": SemanticLabel(AutowareLabel.UNKNOWN, "unknown", [])}),
             # Given difference (2.5, 0.0), all ground_truth_objects are fn
             (2.5, 0.0, [0, 1, 2, 3], {}),
             # Given difference (2.5, 2.5), all ground_truth_objects are fn
diff --git a/perception_eval/test/util/dummy_object.py b/perception_eval/test/util/dummy_object.py
index 064bf41e..e0423be3 100644
--- a/perception_eval/test/util/dummy_object.py
+++ b/perception_eval/test/util/dummy_object.py
@@ -17,7 +17,7 @@
 from typing import Tuple
 
 from perception_eval.common.label import AutowareLabel
-from perception_eval.common.label import Label
+from perception_eval.common.label import SemanticLabel
 from perception_eval.common.schema import FrameID
 from perception_eval.common.shape import Shape
 from perception_eval.common.shape import ShapeType
@@ -52,7 +52,7 @@ def make_dummy_data(
             orientation=Quaternion([0.0, 0.0, 0.0, 1.0]),
             shape=Shape(shape_type=ShapeType.BOUNDING_BOX, size=(1.5, 1.5, 1.5)),
             semantic_score=0.9,
-            semantic_label=Label(AutowareLabel.CAR, "car", []),
+            semantic_label=SemanticLabel(AutowareLabel.CAR, "car", []),
             velocity=(1.0, 1.0, 1.0),
             uuid=token_hex(16) if use_unique_id else "0",
         ),
@@ -63,7 +63,7 @@ def make_dummy_data(
             orientation=Quaternion([0.0, 0.0, 0.0, 1.0]),
             shape=Shape(shape_type=ShapeType.BOUNDING_BOX, size=(0.5, 0.5, 0.5)),
             semantic_score=0.9,
-            semantic_label=Label(AutowareLabel.BICYCLE, "bicycle", []),
+            semantic_label=SemanticLabel(AutowareLabel.BICYCLE, "bicycle", []),
             velocity=(1.0, 1.0, 1.0),
             uuid=token_hex(16) if use_unique_id else "0",
         ),
@@ -74,7 +74,7 @@ def make_dummy_data(
             orientation=Quaternion([0.0, 0.0, 0.0, 1.0]),
             shape=Shape(shape_type=ShapeType.BOUNDING_BOX, size=(1.0, 1.0, 1.0)),
             semantic_score=0.9,
-            semantic_label=Label(AutowareLabel.CAR, "car", []),
+            semantic_label=SemanticLabel(AutowareLabel.CAR, "car", []),
             velocity=(1.0, 1.0, 1.0),
             uuid=token_hex(16) if use_unique_id else "1",
         ),
@@ -87,7 +87,7 @@ def make_dummy_data(
             orientation=Quaternion([0.0, 0.0, 0.0, 1.0]),
             shape=Shape(shape_type=ShapeType.BOUNDING_BOX, size=(1.0, 1.0, 1.0)),
             semantic_score=0.9,
-            semantic_label=Label(AutowareLabel.CAR, "car", []),
+            semantic_label=SemanticLabel(AutowareLabel.CAR, "car", []),
             velocity=(1.0, 1.0, 1.0),
             uuid=token_hex(16),
             pointcloud_num=10,
@@ -99,7 +99,7 @@ def make_dummy_data(
             orientation=Quaternion([0.0, 0.0, 0.0, 1.0]),
             shape=Shape(shape_type=ShapeType.BOUNDING_BOX, size=(1.0, 1.0, 1.0)),
             semantic_score=0.9,
-            semantic_label=Label(AutowareLabel.BICYCLE, "bicycle", []),
+            semantic_label=SemanticLabel(AutowareLabel.BICYCLE, "bicycle", []),
             velocity=(1.0, 1.0, 1.0),
             uuid=token_hex(16),
             pointcloud_num=10,
@@ -111,7 +111,7 @@ def make_dummy_data(
             orientation=Quaternion([0.0, 0.0, 0.0, 1.0]),
             shape=Shape(shape_type=ShapeType.BOUNDING_BOX, size=(1.0, 1.0, 1.0)),
             semantic_score=0.9,
-            semantic_label=Label(AutowareLabel.PEDESTRIAN, "pedestrian", []),
+            semantic_label=SemanticLabel(AutowareLabel.PEDESTRIAN, "pedestrian", []),
             velocity=(1.0, 1.0, 1.0),
             uuid=token_hex(16),
             pointcloud_num=10,
@@ -123,7 +123,7 @@ def make_dummy_data(
             orientation=Quaternion([0.0, 0.0, 0.0, 1.0]),
             shape=Shape(shape_type=ShapeType.BOUNDING_BOX, size=(1.0, 1.0, 1.0)),
             semantic_score=0.9,
-            semantic_label=Label(AutowareLabel.MOTORBIKE, "motorbike", []),
+            semantic_label=SemanticLabel(AutowareLabel.MOTORBIKE, "motorbike", []),
             velocity=(1.0, 1.0, 1.0),
             uuid=token_hex(16),
             pointcloud_num=10,
@@ -148,7 +148,7 @@ def make_dummy_data2d(use_roi: bool = True) -> Tuple[List[DynamicObject2D], List
             unix_time=100,
             frame_id=frame_id,
             semantic_score=0.9,
-            semantic_label=Label(AutowareLabel.CAR, "car", []),
+            semantic_label=SemanticLabel(AutowareLabel.CAR, "car", []),
             roi=(100, 100, 200, 100) if use_roi else None,
             uuid=token_hex(16) if use_roi else "0",
         ),
@@ -156,7 +156,7 @@ def make_dummy_data2d(use_roi: bool = True) -> Tuple[List[DynamicObject2D], List
             unix_time=100,
             frame_id=frame_id,
             semantic_score=0.9,
-            semantic_label=Label(AutowareLabel.BICYCLE, "bicycle", []),
+            semantic_label=SemanticLabel(AutowareLabel.BICYCLE, "bicycle", []),
             roi=(0, 0, 50, 50) if use_roi else None,
             uuid=token_hex(16) if use_roi else "1",
         ),
@@ -164,7 +164,7 @@ def make_dummy_data2d(use_roi: bool = True) -> Tuple[List[DynamicObject2D], List
             unix_time=100,
             frame_id=frame_id,
             semantic_score=0.9,
-            semantic_label=Label(AutowareLabel.CAR, "car", []),
+            semantic_label=SemanticLabel(AutowareLabel.CAR, "car", []),
             roi=(200, 200, 200, 100) if use_roi else None,
             uuid=token_hex(16) if use_roi else "2",
         ),
@@ -174,7 +174,7 @@ def make_dummy_data2d(use_roi: bool = True) -> Tuple[List[DynamicObject2D], List
             unix_time=100,
             frame_id=frame_id,
             semantic_score=1.0,
-            semantic_label=Label(AutowareLabel.CAR, "car", []),
+            semantic_label=SemanticLabel(AutowareLabel.CAR, "car", []),
             roi=(100, 100, 200, 100) if use_roi else None,
             uuid=token_hex(16) if use_roi else "0",
         ),
@@ -182,7 +182,7 @@ def make_dummy_data2d(use_roi: bool = True) -> Tuple[List[DynamicObject2D], List
             unix_time=100,
             frame_id=frame_id,
             semantic_score=1.0,
-            semantic_label=Label(AutowareLabel.BICYCLE, "bicycle", []),
+            semantic_label=SemanticLabel(AutowareLabel.BICYCLE, "bicycle", []),
             roi=(0, 0, 50, 50) if use_roi else None,
             uuid=token_hex(16) if use_roi else "1",
         ),
@@ -190,7 +190,7 @@ def make_dummy_data2d(use_roi: bool = True) -> Tuple[List[DynamicObject2D], List
             unix_time=100,
             frame_id=frame_id,
             semantic_score=1.0,
-            semantic_label=Label(AutowareLabel.PEDESTRIAN, "pedestrian", []),
+            semantic_label=SemanticLabel(AutowareLabel.PEDESTRIAN, "pedestrian", []),
             roi=(200, 200, 200, 100) if use_roi else None,
             uuid=token_hex(16) if use_roi else "2",
         ),
@@ -198,7 +198,7 @@ def make_dummy_data2d(use_roi: bool = True) -> Tuple[List[DynamicObject2D], List
             unix_time=100,
             frame_id=frame_id,
             semantic_score=1.0,
-            semantic_label=Label(AutowareLabel.MOTORBIKE, "motorbike", []),
+            semantic_label=SemanticLabel(AutowareLabel.MOTORBIKE, "motorbike", []),
             roi=(300, 100, 50, 50) if use_roi else None,
             uuid=token_hex(16) if use_roi else "3",
         ),
diff --git a/perception_eval/test/visualization/test_eda_tool.py b/perception_eval/test/visualization/test_eda_tool.py
index cfebf71f..49995b0b 100644
--- a/perception_eval/test/visualization/test_eda_tool.py
+++ b/perception_eval/test/visualization/test_eda_tool.py
@@ -22,7 +22,7 @@
 
 from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import AutowareLabel
-from perception_eval.common.label import Label
+from perception_eval.common.label import SemanticLabel
 from perception_eval.common.schema import FrameID
 from perception_eval.common.shape import Shape
 from perception_eval.common.shape import ShapeType
@@ -62,7 +62,7 @@ class TestEDAVisualizer:
             orientation=Quaternion([0.0, 0.0, 0.0, 1.0]),
             shape=Shape(shape_type=ShapeType.BOUNDING_BOX, size=(1.0, 1.0, 1.0)),
             semantic_score=0.9,
-            semantic_label=Label(AutowareLabel.PEDESTRIAN, "pedestrian", []),
+            semantic_label=SemanticLabel(AutowareLabel.PEDESTRIAN, "pedestrian", []),
             velocity=(1.0, 1.0, 1.0),
             uuid=token_hex(16),
         ),
@@ -308,7 +308,7 @@ class TestEDAManager:
             orientation=Quaternion([0.0, 0.0, 0.0, 1.0]),
             shape=Shape(shape_type=ShapeType.BOUNDING_BOX, size=(1.0, 1.0, 1.0)),
             semantic_score=0.9,
-            semantic_label=Label(AutowareLabel.PEDESTRIAN, "pedestrian", []),
+            semantic_label=SemanticLabel(AutowareLabel.PEDESTRIAN, "pedestrian", []),
             velocity=(1.0, 1.0, 1.0),
             uuid=token_hex(16),
         ),
@@ -329,7 +329,7 @@ class TestEDAManager:
             orientation=Quaternion([0.0, 0.0, 0.0, 1.0]),
             shape=Shape(shape_type=ShapeType.BOUNDING_BOX, size=(2.0, 4.0, 2.0)),
             semantic_score=0.9,
-            semantic_label=Label(AutowareLabel.CAR, "car", []),
+            semantic_label=SemanticLabel(AutowareLabel.CAR, "car", []),
             velocity=(1.0, 1.0, 1.0),
             pointcloud_num=10,
             uuid=token_hex(16),
@@ -341,7 +341,7 @@ class TestEDAManager:
             orientation=Quaternion([0.0, 0.0, 0.0, 1.0]),
             shape=Shape(shape_type=ShapeType.BOUNDING_BOX, size=(2.0, 4.0, 2.0)),
             semantic_score=0.9,
-            semantic_label=Label(AutowareLabel.CAR, "car", []),
+            semantic_label=SemanticLabel(AutowareLabel.CAR, "car", []),
             velocity=(1.0, 1.0, 1.0),
             pointcloud_num=10,
             uuid=token_hex(16),
@@ -353,7 +353,7 @@ class TestEDAManager:
             orientation=Quaternion([0.0, 0.0, 0.0, 1.0]),
             shape=Shape(shape_type=ShapeType.BOUNDING_BOX, size=(1.0, 2.0, 1.0)),
             semantic_score=0.9,
-            semantic_label=Label(AutowareLabel.BICYCLE, "bicycle", []),
+            semantic_label=SemanticLabel(AutowareLabel.BICYCLE, "bicycle", []),
             velocity=(1.0, 1.0, 1.0),
             pointcloud_num=10,
             uuid=token_hex(16),
@@ -365,7 +365,7 @@ class TestEDAManager:
             orientation=Quaternion([0.0, 0.0, 0.0, 1.0]),
             shape=Shape(shape_type=ShapeType.BOUNDING_BOX, size=(1.0, 2.0, 1.0)),
             semantic_score=0.9,
-            semantic_label=Label(AutowareLabel.BICYCLE, "bicycle", []),
+            semantic_label=SemanticLabel(AutowareLabel.BICYCLE, "bicycle", []),
             velocity=(1.0, 1.0, 1.0),
             pointcloud_num=10,
             uuid=token_hex(16),
@@ -377,7 +377,7 @@ class TestEDAManager:
             orientation=Quaternion([0.0, 0.0, 0.0, 1.0]),
             shape=Shape(shape_type=ShapeType.BOUNDING_BOX, size=(1.0, 1.0, 1.0)),
             semantic_score=0.9,
-            semantic_label=Label(AutowareLabel.PEDESTRIAN, "pedestrian", []),
+            semantic_label=SemanticLabel(AutowareLabel.PEDESTRIAN, "pedestrian", []),
             velocity=(1.0, 1.0, 1.0),
             pointcloud_num=10,
             uuid=token_hex(16),
@@ -389,7 +389,7 @@ class TestEDAManager:
             orientation=Quaternion([0.0, 0.0, 0.0, 1.0]),
             shape=Shape(shape_type=ShapeType.BOUNDING_BOX, size=(1.0, 1.0, 1.0)),
             semantic_score=0.9,
-            semantic_label=Label(AutowareLabel.PEDESTRIAN, "pedestrian", []),
+            semantic_label=SemanticLabel(AutowareLabel.PEDESTRIAN, "pedestrian", []),
             velocity=(1.0, 1.0, 1.0),
             pointcloud_num=10,
             uuid=token_hex(16),

From e7290a4c6193d692979d93567466d93065fd83d0 Mon Sep 17 00:00:00 2001
From: ktro2828 <kotaro.uetake@tier4.jp>
Date: Tue, 19 Dec 2023 23:28:41 +0900
Subject: [PATCH 4/9] refactor: rename CriticalFrameConfig to
 PerceptionFrameConfig

Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>
---
 .../perception_eval/dataset/ground_truth.py   |  4 ++--
 .../perception_eval/dataset/load.py           |  4 ++--
 .../perception_eval/dataset/utils.py          | 10 ++++-----
 .../manager/perception_evaluation_manager.py  | 16 ++++++--------
 .../manager/sensing_evaluation_manager.py     |  2 +-
 .../result/perception/__init__.py             |  4 ++--
 .../perception/perception_frame_config.py     | 18 ++++++---------
 .../perception/perception_frame_result.py     | 22 +++++++++----------
 .../perception/perception_pass_fail_result.py | 18 +++++++--------
 .../result/sensing/sensing_frame_result.py    |  4 ++--
 .../tool/perception_analyzer_base.py          | 12 +++++-----
 .../visualization/perception_visualizer2d.py  |  2 +-
 .../visualization/perception_visualizer3d.py  |  2 +-
 .../visualization/sensing_visualizer.py       |  2 +-
 .../test/perception_fp_validation_lsim.py     | 12 +++++-----
 perception_eval/test/perception_lsim.py       | 12 +++++-----
 perception_eval/test/perception_lsim2d.py     | 16 +++++++-------
 17 files changed, 76 insertions(+), 84 deletions(-)

diff --git a/perception_eval/perception_eval/dataset/ground_truth.py b/perception_eval/perception_eval/dataset/ground_truth.py
index 38d5a210..22026da4 100644
--- a/perception_eval/perception_eval/dataset/ground_truth.py
+++ b/perception_eval/perception_eval/dataset/ground_truth.py
@@ -39,13 +39,13 @@ class FrameGroundTruth:
     def __init__(
         self,
         unix_time: int,
-        frame_name: str,
+        frame_number: int,
         objects: List[ObjectType],
         ego2map: Optional[np.ndarray] = None,
         raw_data: Optional[Dict[str, np.ndarray]] = None,
     ) -> None:
         self.unix_time = unix_time
-        self.frame_name = frame_name
+        self.frame_number = frame_number
         self.objects = objects
         self.ego2map = ego2map
         self.raw_data = raw_data
diff --git a/perception_eval/perception_eval/dataset/load.py b/perception_eval/perception_eval/dataset/load.py
index a60eac8a..545ec1fe 100644
--- a/perception_eval/perception_eval/dataset/load.py
+++ b/perception_eval/perception_eval/dataset/load.py
@@ -138,7 +138,7 @@ def _load_dataset(
                 evaluation_task=evaluation_task,
                 label_converter=label_converter,
                 frame_ids=frame_ids,
-                frame_name=str(n),
+                frame_number=n,
                 load_raw_data=load_raw_data,
             )
         else:
@@ -150,7 +150,7 @@ def _load_dataset(
                 evaluation_task=evaluation_task,
                 label_converter=label_converter,
                 frame_id=frame_ids[0],
-                frame_name=str(n),
+                frame_number=n,
                 load_raw_data=load_raw_data,
             )
         dataset.append(frame)
diff --git a/perception_eval/perception_eval/dataset/utils.py b/perception_eval/perception_eval/dataset/utils.py
index fdf19586..5b2c21ff 100644
--- a/perception_eval/perception_eval/dataset/utils.py
+++ b/perception_eval/perception_eval/dataset/utils.py
@@ -58,7 +58,7 @@ def _sample_to_frame(
     evaluation_task: EvaluationTask,
     label_converter: LabelConverter,
     frame_id: FrameID,
-    frame_name: str,
+    frame_number: int,
     load_raw_data: bool,
 ) -> FrameGroundTruth:
     """Load FrameGroundTruth instance from sample record.
@@ -70,7 +70,7 @@ def _sample_to_frame(
         evaluation_tasks (EvaluationTask): The evaluation task.
         label_converter (LabelConverter): LabelConvertor instance.
         frame_id (FrameID): FrameID instance.
-        frame_name (str): Name of frame, number of frame is used.
+        frame_number (int): The number of frame, number of frame is used.
         load_raw_data (bool): Whether load pointcloud/image data.
 
     Raises:
@@ -137,7 +137,7 @@ def _sample_to_frame(
 
     frame = FrameGroundTruth(
         unix_time=unix_time_,
-        frame_name=frame_name,
+        frame_number=frame_number,
         objects=objects_,
         ego2map=ego2map,
         raw_data=raw_data,
@@ -434,7 +434,7 @@ def _sample_to_frame_2d(
     evaluation_task: EvaluationTask,
     label_converter: LabelConverter,
     frame_ids: List[FrameID],
-    frame_name: str,
+    frame_number: int,
     load_raw_data: bool,
 ) -> FrameGroundTruth:
     """Returns FrameGroundTruth constructed with DynamicObject2D.
@@ -518,7 +518,7 @@ def _sample_to_frame_2d(
 
     frame = FrameGroundTruth(
         unix_time=unix_time,
-        frame_name=frame_name,
+        frame_number=frame_number,
         objects=objects_,
         raw_data=raw_data,
     )
diff --git a/perception_eval/perception_eval/manager/perception_evaluation_manager.py b/perception_eval/perception_eval/manager/perception_evaluation_manager.py
index c43d576a..9dfa1d26 100644
--- a/perception_eval/perception_eval/manager/perception_evaluation_manager.py
+++ b/perception_eval/perception_eval/manager/perception_evaluation_manager.py
@@ -35,8 +35,8 @@
     from perception_eval.config import PerceptionEvaluationConfig
     from perception_eval.dataset import FrameGroundTruth
     from perception_eval.object import ObjectType
-    from perception_eval.result import CriticalObjectFilterConfig
     from perception_eval.result import DynamicObjectWithPerceptionResult
+    from perception_eval.result import PerceptionFrameConfig
     from perception_eval.result import PerceptionPassFailConfig
     from perception_eval.visualization import PerceptionVisualizerType
 
@@ -84,8 +84,8 @@ def add_frame_result(
         unix_time: int,
         ground_truth_now_frame: FrameGroundTruth,
         estimated_objects: List[ObjectType],
-        ros_critical_ground_truth_objects: List[ObjectType],
-        critical_object_filter_config: CriticalObjectFilterConfig,
+        critical_ground_truth_objects: List[ObjectType],
+        frame_config: PerceptionFrameConfig,
         frame_pass_fail_config: PerceptionPassFailConfig,
     ) -> PerceptionFrameResult:
         """Get perception result at current frame.
@@ -118,7 +118,7 @@ def add_frame_result(
             object_results=object_results,
             frame_ground_truth=ground_truth_now_frame,
             metrics_config=self.metrics_config,
-            critical_object_filter_config=critical_object_filter_config,
+            frame_config=frame_config,
             frame_pass_fail_config=frame_pass_fail_config,
             unix_time=unix_time,
             target_labels=self.target_labels,
@@ -126,13 +126,11 @@ def add_frame_result(
 
         if len(self.frame_results) > 0:
             result.evaluate_frame(
-                ros_critical_ground_truth_objects=ros_critical_ground_truth_objects,
+                critical_ground_truth_objects=critical_ground_truth_objects,
                 previous_result=self.frame_results[-1],
             )
         else:
-            result.evaluate_frame(
-                ros_critical_ground_truth_objects=ros_critical_ground_truth_objects,
-            )
+            result.evaluate_frame(critical_ground_truth_objects=critical_ground_truth_objects)
 
         self.frame_results.append(result)
         return result
@@ -204,7 +202,7 @@ def get_scene_result(self) -> MetricsScore:
             for label in target_labels:
                 all_frame_results[label].append(obj_result_dict[label])
                 all_num_gt[label] += num_gt_dict[label]
-            used_frame.append(int(frame.frame_name))
+            used_frame.append(frame.frame_number)
 
         # Calculate score
         scene_metrics_score = MetricsScore(
diff --git a/perception_eval/perception_eval/manager/sensing_evaluation_manager.py b/perception_eval/perception_eval/manager/sensing_evaluation_manager.py
index 0a4b8c39..e15eaa48 100644
--- a/perception_eval/perception_eval/manager/sensing_evaluation_manager.py
+++ b/perception_eval/perception_eval/manager/sensing_evaluation_manager.py
@@ -99,7 +99,7 @@ def add_frame_result(
         result = SensingFrameResult(
             sensing_frame_config=sensing_frame_config,
             unix_time=unix_time,
-            frame_name=ground_truth_now_frame.frame_name,
+            frame_number=ground_truth_now_frame.frame_number,
         )
 
         result.evaluate_frame(
diff --git a/perception_eval/perception_eval/result/perception/__init__.py b/perception_eval/perception_eval/result/perception/__init__.py
index 39ab9b32..9664edb0 100644
--- a/perception_eval/perception_eval/result/perception/__init__.py
+++ b/perception_eval/perception_eval/result/perception/__init__.py
@@ -13,7 +13,7 @@
 # limitations under the License.
 
 
-from .perception_frame_config import CriticalObjectFilterConfig
+from .perception_frame_config import PerceptionFrameConfig
 from .perception_frame_config import PerceptionPassFailConfig
 from .perception_frame_result import get_object_status
 from .perception_frame_result import PerceptionFrameResult
@@ -21,7 +21,7 @@
 from .perception_result import get_object_results
 
 __all__ = (
-    "CriticalObjectFilterConfig",
+    "PerceptionFrameConfig",
     "PerceptionPassFailConfig",
     "get_object_status",
     "PerceptionFrameResult",
diff --git a/perception_eval/perception_eval/result/perception/perception_frame_config.py b/perception_eval/perception_eval/result/perception/perception_frame_config.py
index 593397ef..08f4fd24 100644
--- a/perception_eval/perception_eval/result/perception/perception_frame_config.py
+++ b/perception_eval/perception_eval/result/perception/perception_frame_config.py
@@ -29,7 +29,7 @@
     from perception_eval.config import PerceptionEvaluationConfig
 
 
-class CriticalObjectFilterConfig:
+class PerceptionFrameConfig:
     """[summary]
     Config class for critical object filter
 
@@ -149,10 +149,9 @@ def __init__(
         self,
         evaluator_config: PerceptionEvaluationConfig,
         target_labels: Optional[List[str]],
-        matching_threshold_list: Optional[List[float]] = None,
-        confidence_threshold_list: Optional[List[float]] = None,
+        thresholds: Optional[List[float]] = None,
     ) -> None:
-        """[summary]
+        """
         Args:
             evaluator_config (PerceptionEvaluationConfig): Evaluation config
             target_labels (List[str]): Target list. If None or empty list is specified, all labels will be evaluated.
@@ -167,14 +166,11 @@ def __init__(
         )
 
         num_elements: int = len(self.target_labels)
-        if matching_threshold_list is None:
-            self.matching_threshold_list = None
-        else:
-            self.matching_threshold_list: List[float] = check_thresholds(matching_threshold_list, num_elements)
-        if confidence_threshold_list is None:
-            self.confidence_threshold_list = None
+
+        if thresholds is None:
+            self.thresholds = None
         else:
-            self.confidence_threshold_list: List[float] = check_thresholds(confidence_threshold_list, num_elements)
+            self.thresholds = check_thresholds(thresholds, num_elements)
 
 
 class UseCaseThresholdsError(Exception):
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 ed7b928b..182d64a4 100644
--- a/perception_eval/perception_eval/result/perception/perception_frame_result.py
+++ b/perception_eval/perception_eval/result/perception/perception_frame_result.py
@@ -32,7 +32,7 @@
     from perception_eval.metrics import MetricsScoreConfig
     from perception_eval.object import ObjectType
 
-    from .perception_frame_config import CriticalObjectFilterConfig
+    from .perception_frame_config import PerceptionFrameConfig
     from .perception_frame_config import PerceptionPassFailConfig
     from .perception_result import DynamicObjectWithPerceptionResult
 
@@ -43,7 +43,7 @@ class PerceptionFrameResult:
     Attributes:
         object_results (List[DynamicObjectWithPerceptionResult]): Filtered object results to each estimated object.
         frame_ground_truth (FrameGroundTruth): Filtered ground truth of frame.
-        frame_name (str): The file name of frame in the datasets.
+        frame_number (int): The file name of frame in the datasets.
         unix_time (int): The unix time for frame [us].
         target_labels (List[AutowareLabel]): The list of target label.
         metrics_score (MetricsScore): Metrics score results.
@@ -64,14 +64,12 @@ def __init__(
         object_results: List[DynamicObjectWithPerceptionResult],
         frame_ground_truth: FrameGroundTruth,
         metrics_config: MetricsScoreConfig,
-        critical_object_filter_config: CriticalObjectFilterConfig,
+        frame_config: PerceptionFrameConfig,
         frame_pass_fail_config: PerceptionPassFailConfig,
         unix_time: int,
         target_labels: List[LabelType],
     ) -> None:
-        # TODO(ktro2828): rename `frame_name` into `frame_number`
-        # frame information
-        self.frame_name = frame_ground_truth.frame_name
+        self.frame_number = frame_ground_truth.frame_number
         self.unix_time = unix_time
         self.target_labels = target_labels
 
@@ -81,19 +79,19 @@ def __init__(
         # init evaluation
         self.metrics_score = metrics.MetricsScore(
             metrics_config,
-            used_frame=[int(self.frame_name)],
+            used_frame=[int(self.frame_number)],
         )
         self.pass_fail_result = PassFailResult(
             unix_time=unix_time,
-            frame_number=frame_ground_truth.frame_name,
-            critical_object_filter_config=critical_object_filter_config,
+            frame_number=self.frame_number,
+            frame_config=frame_config,
             frame_pass_fail_config=frame_pass_fail_config,
             ego2map=frame_ground_truth.ego2map,
         )
 
     def evaluate_frame(
         self,
-        ros_critical_ground_truth_objects: List[ObjectType],
+        critical_ground_truth_objects: List[ObjectType],
         previous_result: Optional[PerceptionFrameResult] = None,
     ) -> None:
         """[summary]
@@ -130,7 +128,7 @@ def evaluate_frame(
 
         self.pass_fail_result.evaluate(
             object_results=self.object_results,
-            ros_critical_ground_truth_objects=ros_critical_ground_truth_objects,
+            critical_ground_truth_objects=critical_ground_truth_objects,
         )
 
 
@@ -145,7 +143,7 @@ def get_object_status(frame_results: List[PerceptionFrameResult]) -> List[Ground
     """
     status_infos: List[GroundTruthStatus] = []
     for frame_result in frame_results:
-        frame_num: int = int(frame_result.frame_name)
+        frame_num = int(frame_result.frame_number)
         # TP
         for tp_object_result in frame_result.pass_fail_result.tp_object_results:
             if tp_object_result.ground_truth_object.uuid not in status_infos:
diff --git a/perception_eval/perception_eval/result/perception/perception_pass_fail_result.py b/perception_eval/perception_eval/result/perception/perception_pass_fail_result.py
index ec2c25e3..6f7b2a3f 100644
--- a/perception_eval/perception_eval/result/perception/perception_pass_fail_result.py
+++ b/perception_eval/perception_eval/result/perception/perception_pass_fail_result.py
@@ -27,7 +27,7 @@
 if TYPE_CHECKING:
     from perception_eval.object import ObjectType
 
-    from .perception_frame_config import CriticalObjectFilterConfig
+    from .perception_frame_config import PerceptionFrameConfig
     from .perception_frame_config import PerceptionPassFailConfig
     from .perception_result import DynamicObjectWithPerceptionResult
 
@@ -59,14 +59,14 @@ def __init__(
         self,
         unix_time: int,
         frame_number: int,
-        critical_object_filter_config: CriticalObjectFilterConfig,
+        frame_config: PerceptionFrameConfig,
         frame_pass_fail_config: PerceptionPassFailConfig,
         ego2map: Optional[np.ndarray] = None,
     ) -> None:
         self.unix_time = unix_time
         self.frame_number = frame_number
         # TODO(ktro2828): merge CriticalObjectFilterConfig and FramePassFailConfig into one
-        self.critical_object_filter_config = critical_object_filter_config
+        self.frame_config = frame_config
         self.frame_pass_fail_config = frame_pass_fail_config
         self.ego2map = ego2map
 
@@ -79,7 +79,7 @@ def __init__(
     def evaluate(
         self,
         object_results: List[DynamicObjectWithPerceptionResult],
-        ros_critical_ground_truth_objects: List[ObjectType],
+        critical_ground_truth_objects: List[ObjectType],
     ) -> None:
         """Evaluate object results' pass fail.
 
@@ -88,11 +88,11 @@ def evaluate(
             ros_critical_ground_truth_objects (List[ObjectType]): Critical ground truth objects
                 must be evaluated at current frame.
         """
-        self.critical_ground_truth_objects = objects_filter.filter_objects(
-            objects=ros_critical_ground_truth_objects,
+        self.critical_ground_truths = objects_filter.filter_objects(
+            objects=critical_ground_truth_objects,
             is_gt=True,
             ego2map=self.ego2map,
-            **self.critical_object_filter_config.filtering_params,
+            **self.frame_config.filtering_params,
         )
         self.tp_object_results, self.fp_object_results = self.__get_positive_object_results(
             object_results=object_results,
@@ -104,7 +104,7 @@ def evaluate(
             object_results,
             self.frame_pass_fail_config.target_labels,
             MatchingMode.IOU2D if self.frame_pass_fail_config.evaluation_task.is_2d() else MatchingMode.PLANEDISTANCE,
-            self.frame_pass_fail_config.matching_threshold_list,
+            self.frame_pass_fail_config.thresholds,
         )
 
     def get_num_success(self) -> int:
@@ -157,7 +157,7 @@ def __get_positive_object_results(
             matching_mode=MatchingMode.IOU2D
             if self.frame_pass_fail_config.evaluation_task.is_2d()
             else MatchingMode.PLANEDISTANCE,
-            matching_threshold_list=self.frame_pass_fail_config.matching_threshold_list,
+            matching_threshold_list=self.frame_pass_fail_config.thresholds,
         )
 
         # filter by critical_ground_truth_objects
diff --git a/perception_eval/perception_eval/result/sensing/sensing_frame_result.py b/perception_eval/perception_eval/result/sensing/sensing_frame_result.py
index b832ab4f..32bb4bc6 100644
--- a/perception_eval/perception_eval/result/sensing/sensing_frame_result.py
+++ b/perception_eval/perception_eval/result/sensing/sensing_frame_result.py
@@ -53,14 +53,14 @@ def __init__(
         self,
         sensing_frame_config: SensingFrameConfig,
         unix_time: int,
-        frame_name: str,
+        frame_number: int,
     ) -> None:
         # Config
         self.sensing_frame_config = sensing_frame_config
 
         # Frame information
         self.unix_time: int = unix_time
-        self.frame_name: str = frame_name
+        self.frame_number: int = frame_number
 
         # Containers for results
         self.detection_success_results: List[DynamicObjectWithSensingResult] = []
diff --git a/perception_eval/perception_eval/tool/perception_analyzer_base.py b/perception_eval/perception_eval/tool/perception_analyzer_base.py
index ce6e0d3d..417a991f 100644
--- a/perception_eval/perception_eval/tool/perception_analyzer_base.py
+++ b/perception_eval/perception_eval/tool/perception_analyzer_base.py
@@ -432,7 +432,7 @@ def get_metrics_score(self, frame_results: List[PerceptionFrameResult]) -> Metri
             for label in target_labels:
                 scene_results[label].append(obj_results_dict[label])
                 scene_num_gt[label] += num_gt_dict[label]
-            used_frame.append(int(frame.frame_name))
+            used_frame.append(frame.frame_number)
 
         metrics_score: MetricsScore = MetricsScore(
             config=self.config.metrics_config,
@@ -487,13 +487,13 @@ def add(self, frame_results: List[PerceptionFrameResult]) -> pd.DataFrame:
             if len(self) > 0:
                 concat.append(self.df)
 
-            self.__ego2maps[str(self.num_scene)][str(frame.frame_name)] = frame.frame_ground_truth.ego2map
+            self.__ego2maps[str(self.num_scene)][str(frame.frame_number)] = frame.frame_ground_truth.ego2map
 
             tp_df = self.format2df(
                 frame.pass_fail_result.tp_object_results,
                 status=MatchingStatus.TP,
                 start=start,
-                frame_num=int(frame.frame_name),
+                frame_num=frame.frame_number,
                 ego2map=frame.frame_ground_truth.ego2map,
             )
             if len(tp_df) > 0:
@@ -504,7 +504,7 @@ def add(self, frame_results: List[PerceptionFrameResult]) -> pd.DataFrame:
                 frame.pass_fail_result.fp_object_results,
                 status=MatchingStatus.FP,
                 start=start,
-                frame_num=int(frame.frame_name),
+                frame_num=frame.frame_number,
                 ego2map=frame.frame_ground_truth.ego2map,
             )
             if len(fp_df) > 0:
@@ -515,7 +515,7 @@ def add(self, frame_results: List[PerceptionFrameResult]) -> pd.DataFrame:
                 frame.pass_fail_result.tn_objects,
                 status=MatchingStatus.TN,
                 start=start,
-                frame_num=int(frame.frame_name),
+                frame_num=frame.frame_number,
                 ego2map=frame.frame_ground_truth.ego2map,
             )
             if len(tn_df) > 0:
@@ -526,7 +526,7 @@ def add(self, frame_results: List[PerceptionFrameResult]) -> pd.DataFrame:
                 frame.pass_fail_result.fn_objects,
                 status=MatchingStatus.FN,
                 start=start,
-                frame_num=int(frame.frame_name),
+                frame_num=frame.frame_number,
                 ego2map=frame.frame_ground_truth.ego2map,
             )
             if len(fn_df) > 0:
diff --git a/perception_eval/perception_eval/visualization/perception_visualizer2d.py b/perception_eval/perception_eval/visualization/perception_visualizer2d.py
index f092bdf8..82fc8f2e 100644
--- a/perception_eval/perception_eval/visualization/perception_visualizer2d.py
+++ b/perception_eval/perception_eval/visualization/perception_visualizer2d.py
@@ -237,7 +237,7 @@ def visualize_frame(
                     axes[row, col].set_axis_off()
                     axes[row, col].set_title(f"{camera_name}")
 
-        frame_number: str = frame_result.frame_ground_truth.frame_name
+        frame_number: int = frame_result.frame_number
         self.__figure.suptitle(f"Frame: {frame_number}")
 
         # Plot objects
diff --git a/perception_eval/perception_eval/visualization/perception_visualizer3d.py b/perception_eval/perception_eval/visualization/perception_visualizer3d.py
index 118373bb..6de69750 100644
--- a/perception_eval/perception_eval/visualization/perception_visualizer3d.py
+++ b/perception_eval/perception_eval/visualization/perception_visualizer3d.py
@@ -207,7 +207,7 @@ def visualize_frame(
         if axes is None:
             axes: Axes = plt.subplot()
 
-        frame_number: str = frame_result.frame_ground_truth.frame_name
+        frame_number: int = frame_result.frame_number
         axes.set_title(f"Frame: {frame_number} ({self.config.frame_ids[0].value})")
         axes.set_xlabel("x [m]")
         axes.set_ylabel("y [m]")
diff --git a/perception_eval/perception_eval/visualization/sensing_visualizer.py b/perception_eval/perception_eval/visualization/sensing_visualizer.py
index 0cdd5023..de1faefd 100644
--- a/perception_eval/perception_eval/visualization/sensing_visualizer.py
+++ b/perception_eval/perception_eval/visualization/sensing_visualizer.py
@@ -182,7 +182,7 @@ def visualize_frame(
         if axes is None:
             axes: Axes = plt.subplot()
 
-        frame_number: str = frame_result.frame_name
+        frame_number: int = frame_result.frame_number
         axes.set_title(f"Frame: {frame_number} ({self.config.frame_ids[0].value})")
         axes.set_xlabel("x [m]")
         axes.set_ylabel("y [m]")
diff --git a/perception_eval/test/perception_fp_validation_lsim.py b/perception_eval/test/perception_fp_validation_lsim.py
index 6c69ab8a..916ca538 100644
--- a/perception_eval/test/perception_fp_validation_lsim.py
+++ b/perception_eval/test/perception_fp_validation_lsim.py
@@ -24,8 +24,8 @@
 from perception_eval.common.status import get_scene_rates
 from perception_eval.config import PerceptionEvaluationConfig
 from perception_eval.manager import PerceptionEvaluationManager
-from perception_eval.result import CriticalObjectFilterConfig
 from perception_eval.result import get_object_status
+from perception_eval.result import PerceptionFrameConfig
 from perception_eval.result import PerceptionPassFailConfig
 from perception_eval.util.debug import get_objects_with_difference
 from perception_eval.util.logger_config import configure_logger
@@ -69,9 +69,9 @@ def callback(self, unix_time: int, estimated_objects: List[ObjectType]) -> None:
 
         # Ideally, critical GT should be obtained in each frame.
         # In this mock, set it as a copy of `ground_truth_now_frame`.
-        ros_critical_ground_truth_objects = ground_truth_now_frame.objects
+        critical_ground_truth_objects = ground_truth_now_frame.objects
 
-        critical_object_filter_config = CriticalObjectFilterConfig(
+        frame_config = PerceptionFrameConfig(
             evaluator_config=self.evaluator.evaluator_config,
             target_labels=["car", "bicycle", "pedestrian", "motorbike"],
             max_x_position_list=[100.0, 100.0, 100.0, 100.0],
@@ -81,15 +81,15 @@ def callback(self, unix_time: int, estimated_objects: List[ObjectType]) -> None:
         frame_pass_fail_config = PerceptionPassFailConfig(
             evaluator_config=self.evaluator.evaluator_config,
             target_labels=["car", "bicycle", "pedestrian", "motorbike"],
-            matching_threshold_list=[2.0, 2.0, 2.0, 2.0],
+            thresholds=[2.0, 2.0, 2.0, 2.0],
         )
 
         frame_result = self.evaluator.add_frame_result(
             unix_time=unix_time,
             ground_truth_now_frame=ground_truth_now_frame,
             estimated_objects=estimated_objects,
-            ros_critical_ground_truth_objects=ros_critical_ground_truth_objects,
-            critical_object_filter_config=critical_object_filter_config,
+            critical_ground_truth_objects=critical_ground_truth_objects,
+            frame_config=frame_config,
             frame_pass_fail_config=frame_pass_fail_config,
         )
         self.display(frame_result)
diff --git a/perception_eval/test/perception_lsim.py b/perception_eval/test/perception_lsim.py
index 8808eb05..0880b013 100644
--- a/perception_eval/test/perception_lsim.py
+++ b/perception_eval/test/perception_lsim.py
@@ -22,7 +22,7 @@
 
 from perception_eval.config import PerceptionEvaluationConfig
 from perception_eval.manager import PerceptionEvaluationManager
-from perception_eval.result import CriticalObjectFilterConfig
+from perception_eval.result import PerceptionFrameConfig
 from perception_eval.result import PerceptionFrameResult
 from perception_eval.result import PerceptionPassFailConfig
 from perception_eval.tool import PerceptionAnalyzer3D
@@ -106,12 +106,12 @@ def callback(
         # ros_critical_ground_truth_objects : List[DynamicObject] = custom_critical_object_filter(
         #   ground_truth_now_frame.objects
         # )
-        ros_critical_ground_truth_objects = ground_truth_now_frame.objects
+        critical_ground_truth_objects = ground_truth_now_frame.objects
 
         # 1 frameの評価
         # 距離などでUC評価objectを選別するためのインターフェイス（PerceptionEvaluationManager初期化時にConfigを設定せず、関数受け渡しにすることで動的に変更可能なInterface）
         # どれを注目物体とするかのparam
-        critical_object_filter_config = CriticalObjectFilterConfig(
+        frame_config = PerceptionFrameConfig(
             evaluator_config=self.evaluator.evaluator_config,
             target_labels=["car", "bicycle", "pedestrian", "motorbike"],
             ignore_attributes=["cycle_state.without_rider"],
@@ -122,15 +122,15 @@ def callback(
         frame_pass_fail_config = PerceptionPassFailConfig(
             evaluator_config=self.evaluator.evaluator_config,
             target_labels=["car", "bicycle", "pedestrian", "motorbike"],
-            matching_threshold_list=[2.0, 2.0, 2.0, 2.0],
+            thresholds=[2.0, 2.0, 2.0, 2.0],
         )
 
         frame_result = self.evaluator.add_frame_result(
             unix_time=unix_time,
             ground_truth_now_frame=ground_truth_now_frame,
             estimated_objects=estimated_objects,
-            ros_critical_ground_truth_objects=ros_critical_ground_truth_objects,
-            critical_object_filter_config=critical_object_filter_config,
+            critical_ground_truth_objects=critical_ground_truth_objects,
+            frame_config=frame_config,
             frame_pass_fail_config=frame_pass_fail_config,
         )
         self.visualize(frame_result)
diff --git a/perception_eval/test/perception_lsim2d.py b/perception_eval/test/perception_lsim2d.py
index dba83e3e..5d7fb984 100644
--- a/perception_eval/test/perception_lsim2d.py
+++ b/perception_eval/test/perception_lsim2d.py
@@ -23,7 +23,7 @@
 
 from perception_eval.config import PerceptionEvaluationConfig
 from perception_eval.manager import PerceptionEvaluationManager
-from perception_eval.result import CriticalObjectFilterConfig
+from perception_eval.result import PerceptionFrameConfig
 from perception_eval.result import PerceptionPassFailConfig
 from perception_eval.tool import PerceptionAnalyzer2D
 from perception_eval.util.debug import get_objects_with_difference2d
@@ -107,7 +107,7 @@ def callback(
         # ros_critical_ground_truth_objects : List[DynamicObject] = custom_critical_object_filter(
         #   ground_truth_now_frame.objects
         # )
-        ros_critical_ground_truth_objects = ground_truth_now_frame.objects
+        critical_ground_truth_objects = ground_truth_now_frame.objects
 
         # 1 frameの評価
         target_labels = (
@@ -116,27 +116,27 @@ def callback(
             else ["car", "bicycle", "pedestrian", "motorbike"]
         )
         ignore_attributes = ["cycle_state.without_rider"] if self.label_prefix == "autoware" else None
-        matching_threshold_list = None if self.evaluation_task == "classification2d" else [0.5, 0.5, 0.5, 0.5]
+        thresholds = None if self.evaluation_task == "classification2d" else [0.5, 0.5, 0.5, 0.5]
         # 距離などでUC評価objectを選別するためのインターフェイス（PerceptionEvaluationManager初期化時にConfigを設定せず、関数受け渡しにすることで動的に変更可能なInterface）
         # どれを注目物体とするかのparam
-        critical_object_filter_config: CriticalObjectFilterConfig = CriticalObjectFilterConfig(
+        frame_config = PerceptionFrameConfig(
             evaluator_config=self.evaluator.evaluator_config,
             target_labels=target_labels,
             ignore_attributes=ignore_attributes,
         )
         # Pass fail を決めるパラメータ
-        frame_pass_fail_config: PerceptionPassFailConfig = PerceptionPassFailConfig(
+        frame_pass_fail_config = PerceptionPassFailConfig(
             evaluator_config=self.evaluator.evaluator_config,
             target_labels=target_labels,
-            matching_threshold_list=matching_threshold_list,
+            thresholds=thresholds,
         )
 
         frame_result = self.evaluator.add_frame_result(
             unix_time=unix_time,
             ground_truth_now_frame=ground_truth_now_frame,
             estimated_objects=estimated_objects,
-            ros_critical_ground_truth_objects=ros_critical_ground_truth_objects,
-            critical_object_filter_config=critical_object_filter_config,
+            critical_ground_truth_objects=critical_ground_truth_objects,
+            frame_config=frame_config,
             frame_pass_fail_config=frame_pass_fail_config,
         )
         self.visualize(frame_result)

From 32c8cdc370f6a214b62a9d288c060df58d2d621d Mon Sep 17 00:00:00 2001
From: ktro2828 <kotaro.uetake@tier4.jp>
Date: Tue, 19 Dec 2023 23:42:58 +0900
Subject: [PATCH 5/9] refactor: remove `PerceptionPassFailConfig`

Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>
---
 .../manager/perception_evaluation_manager.py  |  8 +--
 .../result/perception/__init__.py             |  2 -
 .../perception/perception_frame_config.py     | 55 +++----------------
 .../perception/perception_frame_result.py     |  3 -
 .../perception/perception_pass_fail_result.py | 30 ++++------
 .../test/perception_fp_validation_lsim.py     |  7 ---
 perception_eval/test/perception_lsim.py       |  7 ---
 perception_eval/test/perception_lsim2d.py     |  7 ---
 8 files changed, 21 insertions(+), 98 deletions(-)

diff --git a/perception_eval/perception_eval/manager/perception_evaluation_manager.py b/perception_eval/perception_eval/manager/perception_evaluation_manager.py
index 9dfa1d26..91408795 100644
--- a/perception_eval/perception_eval/manager/perception_evaluation_manager.py
+++ b/perception_eval/perception_eval/manager/perception_evaluation_manager.py
@@ -37,7 +37,6 @@
     from perception_eval.object import ObjectType
     from perception_eval.result import DynamicObjectWithPerceptionResult
     from perception_eval.result import PerceptionFrameConfig
-    from perception_eval.result import PerceptionPassFailConfig
     from perception_eval.visualization import PerceptionVisualizerType
 
 
@@ -86,7 +85,6 @@ def add_frame_result(
         estimated_objects: List[ObjectType],
         critical_ground_truth_objects: List[ObjectType],
         frame_config: PerceptionFrameConfig,
-        frame_pass_fail_config: PerceptionPassFailConfig,
     ) -> PerceptionFrameResult:
         """Get perception result at current frame.
 
@@ -101,10 +99,9 @@ def add_frame_result(
             ground_truth_now_frame (FrameGroundTruth): FrameGroundTruth instance that has the closest
                 timestamp with `unix_time`.
             estimated_objects (List[ObjectType]): Estimated objects list.
-            ros_critical_ground_truth_objects (List[ObjectType]): Critical ground truth objects filtered by ROS
+            critical_ground_truth_objects (List[ObjectType]): Critical ground truth objects filtered by ROS
                 node to evaluate pass fail result.
-            critical_object_filter_config (CriticalObjectFilterConfig): Parameter config to filter objects.
-            frame_pass_fail_config (PerceptionPassFailConfig):Parameter config to evaluate pass/fail.
+            frame_config (PerceptionFrameConfig): Parameter config for frame.
 
         Returns:
             PerceptionFrameResult: Evaluation result.
@@ -119,7 +116,6 @@ def add_frame_result(
             frame_ground_truth=ground_truth_now_frame,
             metrics_config=self.metrics_config,
             frame_config=frame_config,
-            frame_pass_fail_config=frame_pass_fail_config,
             unix_time=unix_time,
             target_labels=self.target_labels,
         )
diff --git a/perception_eval/perception_eval/result/perception/__init__.py b/perception_eval/perception_eval/result/perception/__init__.py
index 9664edb0..199dab14 100644
--- a/perception_eval/perception_eval/result/perception/__init__.py
+++ b/perception_eval/perception_eval/result/perception/__init__.py
@@ -14,7 +14,6 @@
 
 
 from .perception_frame_config import PerceptionFrameConfig
-from .perception_frame_config import PerceptionPassFailConfig
 from .perception_frame_result import get_object_status
 from .perception_frame_result import PerceptionFrameResult
 from .perception_result import DynamicObjectWithPerceptionResult
@@ -22,7 +21,6 @@
 
 __all__ = (
     "PerceptionFrameConfig",
-    "PerceptionPassFailConfig",
     "get_object_status",
     "PerceptionFrameResult",
     "DynamicObjectWithPerceptionResult",
diff --git a/perception_eval/perception_eval/result/perception/perception_frame_config.py b/perception_eval/perception_eval/result/perception/perception_frame_config.py
index 08f4fd24..5b5ea011 100644
--- a/perception_eval/perception_eval/result/perception/perception_frame_config.py
+++ b/perception_eval/perception_eval/result/perception/perception_frame_config.py
@@ -20,17 +20,15 @@
 from typing import Optional
 from typing import TYPE_CHECKING
 
-from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import set_target_lists
 from perception_eval.common.threshold import check_thresholds
 
 if TYPE_CHECKING:
-    from perception_eval.common.label import LabelType
     from perception_eval.config import PerceptionEvaluationConfig
 
 
 class PerceptionFrameConfig:
-    """[summary]
+    """
     Config class for critical object filter
 
     Attributes:
@@ -63,9 +61,9 @@ def __init__(
         min_point_numbers: Optional[List[int]] = None,
         confidence_threshold_list: Optional[List[float]] = None,
         target_uuids: Optional[List[str]] = None,
+        thresholds: Optional[List[float]] = None,
     ) -> None:
-        """[summary]
-
+        """
         Args:
             evaluator_config (PerceptionEvaluationConfig): Evaluation config
             target_labels (List[str]): The list of target label.
@@ -83,11 +81,10 @@ def __init__(
                 The list of confidence threshold for each label. Defaults to None.
             target_uuids (Optional[List[str]]): The list of target uuid. Defaults to None.
         """
-        self.target_labels: List[LabelType] = set_target_lists(
-            target_labels,
-            evaluator_config.label_converter,
-        )
-        self.ignore_attributes: Optional[List[str]] = ignore_attributes
+        self.evaluation_task = evaluator_config.evaluation_task
+
+        self.target_labels = set_target_lists(target_labels, evaluator_config.label_converter)
+        self.ignore_attributes = ignore_attributes
 
         num_elements: int = len(self.target_labels)
         if max_x_position_list and max_y_position_list:
@@ -132,47 +129,9 @@ def __init__(
             "target_uuids": self.target_uuids,
         }
 
-
-class PerceptionPassFailConfig:
-    """[summary]
-    Config filter for pass fail to frame result
-
-    Attributes:
-        self.evaluation_task (EvaluationTask): Evaluation task.
-        self.target_labels (List[str]): The list of target label.
-        self.matching_distance_list (Optional[List[float]]): The threshold list for Pass/Fail.
-            For 2D evaluation, IOU2D, for 3D evaluation, PLANEDISTANCE will be used.
-        self.confidence_threshold_list (Optional[List[float]]): The list of confidence threshold.
-    """
-
-    def __init__(
-        self,
-        evaluator_config: PerceptionEvaluationConfig,
-        target_labels: Optional[List[str]],
-        thresholds: Optional[List[float]] = None,
-    ) -> None:
-        """
-        Args:
-            evaluator_config (PerceptionEvaluationConfig): Evaluation config
-            target_labels (List[str]): Target list. If None or empty list is specified, all labels will be evaluated.
-            matching_threshold_list (List[float]): The threshold list for Pass/Fail.
-                For 2D evaluation, IOU2D, for 3D evaluation, PLANEDISTANCE will be used. Defaults to None.
-            confidence_threshold_list (Optional[List[float]]): The list of confidence threshold. Defaults to None.
-        """
-        self.evaluation_task: EvaluationTask = evaluator_config.evaluation_task
-        self.target_labels: List[LabelType] = set_target_lists(
-            target_labels,
-            evaluator_config.label_converter,
-        )
-
         num_elements: int = len(self.target_labels)
 
         if thresholds is None:
             self.thresholds = None
         else:
             self.thresholds = check_thresholds(thresholds, num_elements)
-
-
-class UseCaseThresholdsError(Exception):
-    def __init__(self, message) -> None:
-        super().__init__(message)
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 182d64a4..ce862f80 100644
--- a/perception_eval/perception_eval/result/perception/perception_frame_result.py
+++ b/perception_eval/perception_eval/result/perception/perception_frame_result.py
@@ -33,7 +33,6 @@
     from perception_eval.object import ObjectType
 
     from .perception_frame_config import PerceptionFrameConfig
-    from .perception_frame_config import PerceptionPassFailConfig
     from .perception_result import DynamicObjectWithPerceptionResult
 
 
@@ -65,7 +64,6 @@ def __init__(
         frame_ground_truth: FrameGroundTruth,
         metrics_config: MetricsScoreConfig,
         frame_config: PerceptionFrameConfig,
-        frame_pass_fail_config: PerceptionPassFailConfig,
         unix_time: int,
         target_labels: List[LabelType],
     ) -> None:
@@ -85,7 +83,6 @@ def __init__(
             unix_time=unix_time,
             frame_number=self.frame_number,
             frame_config=frame_config,
-            frame_pass_fail_config=frame_pass_fail_config,
             ego2map=frame_ground_truth.ego2map,
         )
 
diff --git a/perception_eval/perception_eval/result/perception/perception_pass_fail_result.py b/perception_eval/perception_eval/result/perception/perception_pass_fail_result.py
index 6f7b2a3f..f19bad5b 100644
--- a/perception_eval/perception_eval/result/perception/perception_pass_fail_result.py
+++ b/perception_eval/perception_eval/result/perception/perception_pass_fail_result.py
@@ -28,7 +28,6 @@
     from perception_eval.object import ObjectType
 
     from .perception_frame_config import PerceptionFrameConfig
-    from .perception_frame_config import PerceptionPassFailConfig
     from .perception_result import DynamicObjectWithPerceptionResult
 
 
@@ -36,10 +35,7 @@ class PassFailResult:
     """Class for keeping TP/FP/TN/FP object results and GT objects for critical GT objects.
 
     Attributes:
-        critical_object_filter_config (CriticalObjectFilterConfig): Critical object filter config.
-        frame_pass_fail_config (PerceptionPassFailConfig): Frame pass fail config.
-        critical_ground_truth_objects (Optional[List[DynamicObject]]): Critical ground truth objects
-            must be evaluated at current frame.
+        frame_config (PerceptionFrameConfig): Critical object filter config.
         tn_objects (List[ObjectType]): TN ground truth objects list.
         fn_objects (List[ObjectType]): FN ground truth objects list.
         fp_object_results (List[DynamicObjectWithPerceptionResult]): FP object results list.
@@ -49,7 +45,6 @@ class PassFailResult:
         unix_time (int): UNIX timestamp.
         frame_number (int): The Number of frame.
         critical_object_filter_config (CriticalObjectFilterConfig): Critical object filter config.
-        frame_pass_fail_config (PerceptionPassFailConfig): Frame pass fail config.
         frame_id (str): `base_link` or `map`.
         ego2map (Optional[numpy.ndarray]): Array of 4x4 matrix to transform coordinates from ego to map.
             Defaults to None.
@@ -60,14 +55,11 @@ def __init__(
         unix_time: int,
         frame_number: int,
         frame_config: PerceptionFrameConfig,
-        frame_pass_fail_config: PerceptionPassFailConfig,
         ego2map: Optional[np.ndarray] = None,
     ) -> None:
         self.unix_time = unix_time
         self.frame_number = frame_number
-        # TODO(ktro2828): merge CriticalObjectFilterConfig and FramePassFailConfig into one
         self.frame_config = frame_config
-        self.frame_pass_fail_config = frame_pass_fail_config
         self.ego2map = ego2map
 
         self.critical_ground_truth_objects: List[ObjectType] = []
@@ -88,7 +80,7 @@ def evaluate(
             ros_critical_ground_truth_objects (List[ObjectType]): Critical ground truth objects
                 must be evaluated at current frame.
         """
-        self.critical_ground_truths = objects_filter.filter_objects(
+        critical_ground_truth_objects = objects_filter.filter_objects(
             objects=critical_ground_truth_objects,
             is_gt=True,
             ego2map=self.ego2map,
@@ -96,17 +88,19 @@ def evaluate(
         )
         self.tp_object_results, self.fp_object_results = self.__get_positive_object_results(
             object_results=object_results,
-            critical_ground_truth_objects=self.critical_ground_truth_objects,
+            critical_ground_truth_objects=critical_ground_truth_objects,
         )
 
         self.tn_objects, self.fn_objects = objects_filter.get_negative_objects(
-            self.critical_ground_truth_objects,
+            critical_ground_truth_objects,
             object_results,
-            self.frame_pass_fail_config.target_labels,
-            MatchingMode.IOU2D if self.frame_pass_fail_config.evaluation_task.is_2d() else MatchingMode.PLANEDISTANCE,
-            self.frame_pass_fail_config.thresholds,
+            self.frame_config.target_labels,
+            MatchingMode.IOU2D if self.frame_config.evaluation_task.is_2d() else MatchingMode.PLANEDISTANCE,
+            self.frame_config.thresholds,
         )
 
+        self.critical_ground_truth_objects = critical_ground_truth_objects
+
     def get_num_success(self) -> int:
         """Returns the number of success.
 
@@ -153,11 +147,11 @@ def __get_positive_object_results(
         """
         tp_object_results, fp_object_results = objects_filter.get_positive_objects(
             object_results=object_results,
-            target_labels=self.frame_pass_fail_config.target_labels,
+            target_labels=self.frame_config.target_labels,
             matching_mode=MatchingMode.IOU2D
-            if self.frame_pass_fail_config.evaluation_task.is_2d()
+            if self.frame_config.evaluation_task.is_2d()
             else MatchingMode.PLANEDISTANCE,
-            matching_threshold_list=self.frame_pass_fail_config.thresholds,
+            matching_threshold_list=self.frame_config.thresholds,
         )
 
         # filter by critical_ground_truth_objects
diff --git a/perception_eval/test/perception_fp_validation_lsim.py b/perception_eval/test/perception_fp_validation_lsim.py
index 916ca538..02680c8d 100644
--- a/perception_eval/test/perception_fp_validation_lsim.py
+++ b/perception_eval/test/perception_fp_validation_lsim.py
@@ -26,7 +26,6 @@
 from perception_eval.manager import PerceptionEvaluationManager
 from perception_eval.result import get_object_status
 from perception_eval.result import PerceptionFrameConfig
-from perception_eval.result import PerceptionPassFailConfig
 from perception_eval.util.debug import get_objects_with_difference
 from perception_eval.util.logger_config import configure_logger
 
@@ -76,11 +75,6 @@ def callback(self, unix_time: int, estimated_objects: List[ObjectType]) -> None:
             target_labels=["car", "bicycle", "pedestrian", "motorbike"],
             max_x_position_list=[100.0, 100.0, 100.0, 100.0],
             max_y_position_list=[100.0, 100.0, 100.0, 100.0],
-        )
-
-        frame_pass_fail_config = PerceptionPassFailConfig(
-            evaluator_config=self.evaluator.evaluator_config,
-            target_labels=["car", "bicycle", "pedestrian", "motorbike"],
             thresholds=[2.0, 2.0, 2.0, 2.0],
         )
 
@@ -90,7 +84,6 @@ def callback(self, unix_time: int, estimated_objects: List[ObjectType]) -> None:
             estimated_objects=estimated_objects,
             critical_ground_truth_objects=critical_ground_truth_objects,
             frame_config=frame_config,
-            frame_pass_fail_config=frame_pass_fail_config,
         )
         self.display(frame_result)
 
diff --git a/perception_eval/test/perception_lsim.py b/perception_eval/test/perception_lsim.py
index 0880b013..d9c408d0 100644
--- a/perception_eval/test/perception_lsim.py
+++ b/perception_eval/test/perception_lsim.py
@@ -24,7 +24,6 @@
 from perception_eval.manager import PerceptionEvaluationManager
 from perception_eval.result import PerceptionFrameConfig
 from perception_eval.result import PerceptionFrameResult
-from perception_eval.result import PerceptionPassFailConfig
 from perception_eval.tool import PerceptionAnalyzer3D
 from perception_eval.util.debug import format_class_for_log
 from perception_eval.util.debug import get_objects_with_difference
@@ -117,11 +116,6 @@ def callback(
             ignore_attributes=["cycle_state.without_rider"],
             max_x_position_list=[30.0, 30.0, 30.0, 30.0],
             max_y_position_list=[30.0, 30.0, 30.0, 30.0],
-        )
-        # Pass fail を決めるパラメータ
-        frame_pass_fail_config = PerceptionPassFailConfig(
-            evaluator_config=self.evaluator.evaluator_config,
-            target_labels=["car", "bicycle", "pedestrian", "motorbike"],
             thresholds=[2.0, 2.0, 2.0, 2.0],
         )
 
@@ -131,7 +125,6 @@ def callback(
             estimated_objects=estimated_objects,
             critical_ground_truth_objects=critical_ground_truth_objects,
             frame_config=frame_config,
-            frame_pass_fail_config=frame_pass_fail_config,
         )
         self.visualize(frame_result)
 
diff --git a/perception_eval/test/perception_lsim2d.py b/perception_eval/test/perception_lsim2d.py
index 5d7fb984..5c8c8885 100644
--- a/perception_eval/test/perception_lsim2d.py
+++ b/perception_eval/test/perception_lsim2d.py
@@ -24,7 +24,6 @@
 from perception_eval.config import PerceptionEvaluationConfig
 from perception_eval.manager import PerceptionEvaluationManager
 from perception_eval.result import PerceptionFrameConfig
-from perception_eval.result import PerceptionPassFailConfig
 from perception_eval.tool import PerceptionAnalyzer2D
 from perception_eval.util.debug import get_objects_with_difference2d
 from perception_eval.util.logger_config import configure_logger
@@ -123,11 +122,6 @@ def callback(
             evaluator_config=self.evaluator.evaluator_config,
             target_labels=target_labels,
             ignore_attributes=ignore_attributes,
-        )
-        # Pass fail を決めるパラメータ
-        frame_pass_fail_config = PerceptionPassFailConfig(
-            evaluator_config=self.evaluator.evaluator_config,
-            target_labels=target_labels,
             thresholds=thresholds,
         )
 
@@ -137,7 +131,6 @@ def callback(
             estimated_objects=estimated_objects,
             critical_ground_truth_objects=critical_ground_truth_objects,
             frame_config=frame_config,
-            frame_pass_fail_config=frame_pass_fail_config,
         )
         self.visualize(frame_result)
 

From 03ec74719df5e90bc3509a615c99c5bb2f138a88 Mon Sep 17 00:00:00 2001
From: ktro2828 <kotaro.uetake@tier4.jp>
Date: Thu, 28 Dec 2023 14:22:19 +0900
Subject: [PATCH 6/9] feat: define classes for config parameters

Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>
---
 ...nfig_base.py => evaluation_config_base.py} |  55 ++++----
 .../perception_eval/config/params/__init__.py |   8 ++
 .../config/params/filter_param.py             | 113 ++++++++++++++++
 .../config/params/label_param.py              |  25 ++++
 .../config/params/metrics_param.py            |  78 +++++++++++
 .../config/perception_evaluation_config.py    | 126 ++----------------
 .../config/sensing_evaluation_config.py       |  47 ++-----
 ...ger_base.py => evaluation_manager_base.py} |  38 +++---
 .../manager/perception_evaluation_manager.py  |  44 +++---
 .../manager/sensing_evaluation_manager.py     |  23 ++--
 .../metrics/metrics_score_config.py           |  46 ++++---
 .../tool/perception_analyzer2d.py             |   4 +-
 .../tool/perception_analyzer3d.py             |  20 +--
 .../tool/perception_analyzer3dfield.py        |   6 +-
 .../tool/perception_analyzer_base.py          |   4 +-
 .../visualization/perception_visualizer3d.py  |   6 +-
 .../test_perception_evaluation_config.py      |   6 +-
 .../config/test_sensing_evaluation_config.py  |   6 +-
 .../test/metrics/test_metrics_score_config.py |  62 ++++++---
 .../test/perception_fp_validation_lsim.py     |   6 +-
 perception_eval/test/perception_lsim.py       |  16 +--
 perception_eval/test/perception_lsim2d.py     |  24 ++--
 perception_eval/test/sensing_lsim.py          |   8 +-
 23 files changed, 441 insertions(+), 330 deletions(-)
 rename perception_eval/perception_eval/config/{_evaluation_config_base.py => evaluation_config_base.py} (77%)
 create mode 100644 perception_eval/perception_eval/config/params/__init__.py
 create mode 100644 perception_eval/perception_eval/config/params/filter_param.py
 create mode 100644 perception_eval/perception_eval/config/params/label_param.py
 create mode 100644 perception_eval/perception_eval/config/params/metrics_param.py
 rename perception_eval/perception_eval/manager/{_evaluation_manager_base.py => evaluation_manager_base.py} (79%)

diff --git a/perception_eval/perception_eval/config/_evaluation_config_base.py b/perception_eval/perception_eval/config/evaluation_config_base.py
similarity index 77%
rename from perception_eval/perception_eval/config/_evaluation_config_base.py
rename to perception_eval/perception_eval/config/evaluation_config_base.py
index 7138eab0..70154b04 100644
--- a/perception_eval/perception_eval/config/_evaluation_config_base.py
+++ b/perception_eval/perception_eval/config/evaluation_config_base.py
@@ -29,13 +29,19 @@
 
 from perception_eval.common.evaluation_task import set_task
 from perception_eval.common.label import LabelConverter
+from perception_eval.common.label import set_target_lists
 from perception_eval.common.schema import FrameID
 
+from .params import LabelParam
+
 if TYPE_CHECKING:
     from perception_eval.common.evaluation_task import EvaluationTask
 
+    from .params import FilterParamType
+    from .params import MetricsParamType
+
 
-class _EvaluationConfigBase(ABC):
+class EvaluationConfigBase(ABC):
     """Abstract base class for evaluation config
 
     Directory structure to save log and visualization result is following
@@ -82,24 +88,23 @@ def __init__(
         dataset_paths: List[str],
         frame_id: Union[str, Sequence[str]],
         result_root_directory: str,
-        evaluation_config_dict: Dict[str, Any],
+        config_dict: Dict[str, Any],
         load_raw_data: bool = False,
     ) -> None:
         super().__init__()
         # Check tasks are supported
-        self.evaluation_task: EvaluationTask = self._check_tasks(evaluation_config_dict)
-        self.evaluation_config_dict: Dict[str, Any] = evaluation_config_dict
+        self.evaluation_task: EvaluationTask = self._check_tasks(config_dict)
 
         # Labels
-        self.label_params = self._extract_label_params(evaluation_config_dict)
+        self.label_param = LabelParam.from_dict(config_dict)
         self.label_converter = LabelConverter(
             self.evaluation_task,
-            self.label_params["merge_similar_labels"],
-            self.label_params["label_prefix"],
-            self.label_params["count_label_number"],
+            merge_similar_labels=self.label_param.merge_similar_labels,
+            label_prefix=self.label_param.label_prefix,
+            count_label_number=self.label_param.count_label_number,
         )
-
-        self.filtering_params, self.metrics_params = self._extract_params(evaluation_config_dict)
+        self.target_labels = set_target_lists(config_dict.get("target_labels"), self.label_converter)
+        self.filter_param, self.metrics_param = self._extract_params(config_dict)
 
         # dataset
         self.dataset_paths: List[str] = dataset_paths
@@ -126,7 +131,7 @@ def __init__(
     def support_tasks(self) -> List[str]:
         return self._support_tasks
 
-    def _check_tasks(self, evaluation_config_dict: Dict[str, Any]) -> EvaluationTask:
+    def _check_tasks(self, cfg: Dict[str, Any]) -> EvaluationTask:
         """Check if specified tasks are supported.
 
         Args:
@@ -138,32 +143,20 @@ def _check_tasks(self, evaluation_config_dict: Dict[str, Any]) -> EvaluationTask
         Raises:
             ValueError: If the keys of input config are unsupported.
         """
-        task: str = evaluation_config_dict["evaluation_task"]
-        if task not in self.support_tasks:
-            raise ValueError(f"Unsupported task: {task}\nSupported tasks: {self.support_tasks}")
+        task_name: str = cfg["evaluation_task"]
+        if task_name not in self.support_tasks:
+            raise ValueError(f"Unsupported task: {task_name}\nSupported tasks: {self.support_tasks}")
+        return set_task(task_name)
 
-        # evaluation task
-        evaluation_task: EvaluationTask = set_task(task)
-        return evaluation_task
-
-    @staticmethod
     @abstractmethod
-    def _extract_label_params(evaluation_config_dict: Dict[str, Any]) -> Dict[str, Any]:
-        pass
-
-    @abstractmethod
-    def _extract_params(
-        self,
-        evaluation_config_dict: Dict[str, Any],
-    ) -> Tuple[Dict[str, Any], Dict[str, Any]]:
-        """Extract filtering and metrics parameters from evaluation config.
+    def _extract_params(self, cfg: Dict[str, Any]) -> Tuple[FilterParamType, MetricsParamType]:
+        """
 
         Args:
-            evaluation_config_dict (Dict[str, Any])
+            evaluation_config_dict (Dict[str, Any]): _description_
 
         Returns:
-            filter_params (Dict[str, Any]): filtering parameters.
-            metrics_params (Dict[str, Any]): metrics parameters.
+            Tuple[FilterParamType, MetricsParamType]: _description_
         """
         pass
 
diff --git a/perception_eval/perception_eval/config/params/__init__.py b/perception_eval/perception_eval/config/params/__init__.py
new file mode 100644
index 00000000..20bc855e
--- /dev/null
+++ b/perception_eval/perception_eval/config/params/__init__.py
@@ -0,0 +1,8 @@
+from typing import Union
+
+from .filter_param import *  # noqa
+from .label_param import *  # noqa
+from .metrics_param import *  # noqa
+
+FilterParamType = Union[PerceptionFilterParam, SensingFilterParam]  # noqa
+MetricsParamType = Union[PerceptionMetricsParam, SensingMetricsParam]  # noqa
diff --git a/perception_eval/perception_eval/config/params/filter_param.py b/perception_eval/perception_eval/config/params/filter_param.py
new file mode 100644
index 00000000..e0056f5f
--- /dev/null
+++ b/perception_eval/perception_eval/config/params/filter_param.py
@@ -0,0 +1,113 @@
+from __future__ import annotations
+
+from abc import ABC
+from abc import abstractmethod
+from dataclasses import asdict
+from dataclasses import dataclass
+from typing import Any
+from typing import Dict
+from typing import List
+from typing import Optional
+from typing import TYPE_CHECKING
+
+from perception_eval.common.evaluation_task import EvaluationTask
+from perception_eval.common.threshold import set_thresholds
+
+if TYPE_CHECKING:
+    from perception_eval.common.label import LabelType
+
+__all__ = ("PerceptionFilterParam", "SensingFilterParam")
+
+
+class FilterParamBase(ABC):
+    @classmethod
+    @abstractmethod
+    def from_dict(
+        cls,
+        cfg: Dict[str, Any],
+        evaluation_task: EvaluationTask,
+        target_labels: List[LabelType],
+    ) -> FilterParamBase:
+        pass
+
+    def as_dict(self) -> Dict[str, Any]:
+        return asdict(self)
+
+
+@dataclass
+class PerceptionFilterParam(FilterParamBase):
+    evaluation_task: EvaluationTask
+    target_labels: List[LabelType]
+    max_x_position_list: Optional[List[float]] = None
+    max_y_position_list: Optional[List[float]] = None
+    min_distance_list: Optional[List[float]] = None
+    max_distance_list: Optional[List[float]] = None
+    min_point_numbers: Optional[List[float]] = None
+    confidence_threshold_list: Optional[List[float]] = None
+    target_uuids: Optional[List[str]] = None
+    ignore_attributes: Optional[List[str]] = None
+
+    @classmethod
+    def from_dict(
+        cls,
+        cfg: Dict[str, Any],
+        evaluation_task: EvaluationTask,
+        target_labels: List[LabelType],
+    ) -> PerceptionFilterParam:
+        max_x_position: Optional[float] = cfg.get("max_x_position")
+        max_y_position: Optional[float] = cfg.get("max_y_position")
+        max_distance: Optional[float] = cfg.get("max_distance")
+        min_distance: Optional[float] = cfg.get("min_distance")
+
+        num_elements: int = len(target_labels)
+        max_x_position_list = None
+        max_y_position_list = None
+        min_distance_list = None
+        max_distance_list = None
+        if max_x_position and max_y_position:
+            max_x_position_list: List[float] = set_thresholds(max_x_position, num_elements, False)
+            max_y_position_list: List[float] = set_thresholds(max_y_position, num_elements, False)
+        elif max_distance and min_distance:
+            max_distance_list: List[float] = set_thresholds(max_distance, num_elements, False)
+            min_distance_list: List[float] = [min_distance] * len(target_labels)
+        elif not evaluation_task.is_2d():
+            raise RuntimeError("Either max x/y position or max/min distance should be specified")
+
+        min_point_numbers: Optional[List[int]] = cfg.get("min_point_numbers")
+        if min_point_numbers is not None:
+            min_point_numbers = set_thresholds(min_point_numbers, num_elements, False)
+
+        if evaluation_task == EvaluationTask.DETECTION and min_point_numbers is None:
+            raise RuntimeError("In detection task, min point numbers must be specified")
+
+        confidence_threshold: Optional[float] = cfg.get("confidence_threshold")
+        if confidence_threshold is not None:
+            confidence_threshold_list: List[float] = set_thresholds(confidence_threshold, num_elements, False)
+        else:
+            confidence_threshold_list = None
+
+        target_uuids: Optional[List[str]] = cfg.get("target_uuids")
+        ignore_attributes: Optional[List[str]] = cfg.get("ignore_attributes")
+
+        return cls(
+            evaluation_task,
+            target_labels,
+            max_x_position_list,
+            max_y_position_list,
+            min_distance_list,
+            max_distance_list,
+            min_point_numbers,
+            confidence_threshold_list,
+            target_uuids,
+            ignore_attributes,
+        )
+
+
+@dataclass
+class SensingFilterParam(FilterParamBase):
+    target_uuids: Optional[List[str]] = None
+
+    @classmethod
+    def from_dict(cls, cfg: Dict[str, Any], **kwargs) -> SensingFilterParam:
+        target_uuids: Optional[List[str]] = cfg.get("target_uuids")
+        return cls(target_uuids)
diff --git a/perception_eval/perception_eval/config/params/label_param.py b/perception_eval/perception_eval/config/params/label_param.py
new file mode 100644
index 00000000..58fa601c
--- /dev/null
+++ b/perception_eval/perception_eval/config/params/label_param.py
@@ -0,0 +1,25 @@
+from __future__ import annotations
+
+from dataclasses import asdict
+from dataclasses import dataclass
+from typing import Any
+from typing import Dict
+
+__all__ = ("LabelParam",)
+
+
+@dataclass
+class LabelParam:
+    label_prefix: str
+    merge_similar_labels: bool = False
+    count_label_number: bool = True
+
+    @classmethod
+    def from_dict(cls, cfg: Dict[str, Any]) -> LabelParam:
+        label_prefix: str = cfg.get("label_prefix", "autoware")
+        merge_similar_labels: bool = cfg.get("merge_similar_labels", False)
+        count_label_number: bool = cfg.get("count_label_number", True)
+        return cls(label_prefix, merge_similar_labels, count_label_number)
+
+    def as_dict(self) -> Dict[str, Any]:
+        return asdict(self)
diff --git a/perception_eval/perception_eval/config/params/metrics_param.py b/perception_eval/perception_eval/config/params/metrics_param.py
new file mode 100644
index 00000000..617b43d7
--- /dev/null
+++ b/perception_eval/perception_eval/config/params/metrics_param.py
@@ -0,0 +1,78 @@
+from __future__ import annotations
+
+from abc import ABC
+from abc import abstractmethod
+from dataclasses import asdict
+from dataclasses import dataclass
+from typing import Any
+from typing import Dict
+from typing import List
+from typing import Optional
+from typing import TYPE_CHECKING
+from typing import Union
+
+if TYPE_CHECKING:
+    from perception_eval.common.evaluation_task import EvaluationTask
+    from perception_eval.common.label import LabelType
+
+
+__all__ = ("PerceptionMetricsParam", "SensingMetricsParam")
+
+
+class MetricsParamBase(ABC):
+    @classmethod
+    @abstractmethod
+    def from_dict(
+        cls,
+        cfg: Dict[str, Any],
+        evaluation_task: EvaluationTask,
+        target_labels: List[LabelType],
+    ) -> MetricsParamBase:
+        pass
+
+    def as_dict(self) -> Dict[str, Any]:
+        return asdict(self)
+
+
+@dataclass
+class PerceptionMetricsParam(MetricsParamBase):
+    evaluation_task: EvaluationTask
+    target_labels: List[LabelType]
+    center_distance_thresholds: Optional[Union[List[float], List[List[float]]]] = None
+    plane_distance_thresholds: Optional[Union[List[float], List[List[float]]]] = None
+    iou_2d_thresholds: Optional[Union[List[float], List[List[float]]]] = None
+    iou_3d_thresholds: Optional[Union[List[float], List[List[float]]]] = None
+
+    @classmethod
+    def from_dict(
+        cls,
+        cfg: Dict[str, Any],
+        evaluation_task: EvaluationTask,
+        target_labels: List[LabelType],
+    ) -> MetricsParamBase:
+        center_distance_thresholds = cfg.get("center_distance_thresholds")
+        plane_distance_thresholds = cfg.get("plane_distance_thresholds")
+        iou_2d_thresholds = cfg.get("iou_2d_thresholds")
+        iou_3d_thresholds = cfg.get("iou_3d_thresholds")
+        return cls(
+            evaluation_task,
+            target_labels,
+            center_distance_thresholds,
+            plane_distance_thresholds,
+            iou_2d_thresholds,
+            iou_3d_thresholds,
+        )
+
+
+@dataclass
+class SensingMetricsParam(MetricsParamBase):
+    box_scale_0m: float = 1.0
+    box_scale_100m: float = 1.0
+    min_points_threshold: int = 1
+
+    @classmethod
+    def from_dict(cls, cfg: Dict[str, Any], **kwargs) -> MetricsParamBase:
+        box_scale_0m = cfg.get("box_scale_0m", 1.0)
+        box_scale_100m = cfg.get("box_scale_100m", 1.0)
+        min_point_numbers = cfg.get("min_points_threshold", 1)
+        return cls(box_scale_0m, box_scale_100m, min_point_numbers)
diff --git a/perception_eval/perception_eval/config/perception_evaluation_config.py b/perception_eval/perception_eval/config/perception_evaluation_config.py
index ccc010d9..d6ea1688 100644
--- a/perception_eval/perception_eval/config/perception_evaluation_config.py
+++ b/perception_eval/perception_eval/config/perception_evaluation_config.py
@@ -15,24 +15,18 @@
 from typing import Any
 from typing import Dict
 from typing import List
-from typing import Optional
 from typing import Sequence
 from typing import Tuple
-from typing import TYPE_CHECKING
 from typing import Union
 
-from perception_eval.common.evaluation_task import EvaluationTask
-from perception_eval.common.label import set_target_lists
-from perception_eval.common.threshold import set_thresholds
 from perception_eval.metrics import MetricsScoreConfig
 
-from ._evaluation_config_base import _EvaluationConfigBase
+from .evaluation_config_base import EvaluationConfigBase
+from .params import PerceptionFilterParam
+from .params import PerceptionMetricsParam
 
-if TYPE_CHECKING:
-    from perception_eval.common.label import LabelType
 
-
-class PerceptionEvaluationConfig(_EvaluationConfigBase):
+class PerceptionEvaluationConfig(EvaluationConfigBase):
     """Configuration class for perception evaluation.
 
     Directory structure to save log and visualization result is following
@@ -59,7 +53,7 @@ class PerceptionEvaluationConfig(_EvaluationConfigBase):
         dataset_paths (List[str]): Dataset paths list.
         frame_id (Union[str, Sequence[str]]): FrameID(s) in string, where objects are with respect.
         result_root_directory (str): Directory path to save result.
-        evaluation_config_dict (Dict[str, Dict[str, Any]]): Dict that items are evaluation config for each task.
+        config_dict (Dict[str, Dict[str, Any]]): Dict that items are evaluation config for each task.
         load_raw_data (bool): Whether load pointcloud/image data. Defaults to False.
     """
 
@@ -79,116 +73,20 @@ def __init__(
         dataset_paths: List[str],
         frame_id: Union[str, Sequence[str]],
         result_root_directory: str,
-        evaluation_config_dict: Dict[str, Any],
+        config_dict: Dict[str, Any],
         load_raw_data: bool = False,
     ) -> None:
         super().__init__(
             dataset_paths=dataset_paths,
             frame_id=frame_id,
             result_root_directory=result_root_directory,
-            evaluation_config_dict=evaluation_config_dict,
+            config_dict=config_dict,
             load_raw_data=load_raw_data,
         )
 
-        self.metrics_config = MetricsScoreConfig(self.evaluation_task, **self.metrics_params)
-
-    @staticmethod
-    def _extract_label_params(evaluation_config_dict: Dict[str, Any]) -> Dict[str, Any]:
-        e_cfg = evaluation_config_dict.copy()
-        l_params: Dict[str, Any] = {
-            "label_prefix": e_cfg["label_prefix"],
-            "merge_similar_labels": e_cfg.get("merge_similar_labels", False),
-            "allow_matching_unknown": e_cfg.get("allow_matching_unknown", False),
-            "count_label_number": e_cfg.get("count_label_number", True),
-        }
-        return l_params
-
-    def _extract_params(
-        self,
-        evaluation_config_dict: Dict[str, Any],
-    ) -> Tuple[Dict[str, Any], Dict[str, Any]]:
-        """Extract and divide parameters from evaluation_config_dict into filtering and metrics parameters.
-
-        Args:
-            evaluation_config_dict (Dict[str, Any]): Dict that items are evaluation config for each task.
-
-        Returns:
-            f_params (Dict[str, Any]): Parameters for filtering.
-            m_params (Dict[str, Any]): Parameters for metrics.
-            l_params (Dict[str, Any]): Parameters for label.
-        """
-        e_cfg = evaluation_config_dict.copy()
-
-        # Covert labels to autoware labels for Metrics
-        target_labels: List[LabelType] = set_target_lists(
-            e_cfg.get("target_labels"),
-            self.label_converter,
-        )
-        self.target_labels: List[LabelType] = target_labels
-
-        max_x_position: Optional[float] = e_cfg.get("max_x_position")
-        max_y_position: Optional[float] = e_cfg.get("max_y_position")
-        max_distance: Optional[float] = e_cfg.get("max_distance")
-        min_distance: Optional[float] = e_cfg.get("min_distance")
-
-        num_elements: int = len(target_labels)
-        if max_x_position and max_y_position:
-            max_x_position_list: List[float] = set_thresholds(max_x_position, num_elements, False)
-            max_y_position_list: List[float] = set_thresholds(max_y_position, num_elements, False)
-            max_distance_list = None
-            min_distance_list = None
-        elif max_distance and min_distance:
-            max_distance_list: List[float] = set_thresholds(max_distance, num_elements, False)
-            min_distance_list: List[float] = [min_distance] * len(target_labels)
-            max_x_position_list = None
-            max_y_position_list = None
-        elif self.evaluation_task.is_2d():
-            max_x_position_list = None
-            max_y_position_list = None
-            max_distance_list = None
-            min_distance_list = None
-        else:
-            raise RuntimeError("Either max x/y position or max/min distance should be specified")
-
-        max_matchable_radii: Optional[Union[float, List[float]]] = e_cfg.get("max_matchable_radii")
-        if max_matchable_radii is not None:
-            max_matchable_radii: List[float] = set_thresholds(max_matchable_radii, num_elements, False)
-
-        min_point_numbers: Optional[List[int]] = e_cfg.get("min_point_numbers")
-        if min_point_numbers is not None:
-            min_point_numbers: List[int] = set_thresholds(min_point_numbers, num_elements, False)
-
-        if self.evaluation_task == EvaluationTask.DETECTION and min_point_numbers is None:
-            raise RuntimeError("In detection task, min point numbers must be specified")
-
-        conf_thresh: Optional[float] = e_cfg.get("confidence_threshold")
-        if conf_thresh is not None:
-            confidence_threshold_list: List[float] = set_thresholds(conf_thresh, num_elements, False)
-        else:
-            confidence_threshold_list = None
-
-        target_uuids: Optional[List[str]] = e_cfg.get("target_uuids")
-        ignore_attributes: Optional[List[str]] = e_cfg.get("ignore_attributes")
-
-        f_params: Dict[str, Any] = {
-            "target_labels": target_labels,
-            "ignore_attributes": ignore_attributes,
-            "max_x_position_list": max_x_position_list,
-            "max_y_position_list": max_y_position_list,
-            "max_distance_list": max_distance_list,
-            "min_distance_list": min_distance_list,
-            "max_matchable_radii": max_matchable_radii,
-            "min_point_numbers": min_point_numbers,
-            "confidence_threshold_list": confidence_threshold_list,
-            "target_uuids": target_uuids,
-        }
-
-        m_params: Dict[str, Any] = {
-            "target_labels": target_labels,
-            "center_distance_thresholds": e_cfg.get("center_distance_thresholds"),
-            "plane_distance_thresholds": e_cfg.get("plane_distance_thresholds"),
-            "iou_2d_thresholds": e_cfg.get("iou_2d_thresholds"),
-            "iou_3d_thresholds": e_cfg.get("iou_3d_thresholds"),
-        }
+        self.metrics_config = MetricsScoreConfig(self.metrics_param)
 
-        return f_params, m_params
+    def _extract_params(self, cfg: Dict[str, Any]) -> Tuple[PerceptionFilterParam, PerceptionMetricsParam]:
+        filter_param = PerceptionFilterParam.from_dict(cfg, self.evaluation_task, self.target_labels)
+        metrics_param = PerceptionMetricsParam.from_dict(cfg, self.evaluation_task, self.target_labels)
+        return filter_param, metrics_param
diff --git a/perception_eval/perception_eval/config/sensing_evaluation_config.py b/perception_eval/perception_eval/config/sensing_evaluation_config.py
index 06537259..4c1f76e7 100644
--- a/perception_eval/perception_eval/config/sensing_evaluation_config.py
+++ b/perception_eval/perception_eval/config/sensing_evaluation_config.py
@@ -19,10 +19,12 @@
 from typing import Tuple
 from typing import Union
 
-from ._evaluation_config_base import _EvaluationConfigBase
+from .evaluation_config_base import EvaluationConfigBase
+from .params import SensingFilterParam
+from .params import SensingMetricsParam
 
 
-class SensingEvaluationConfig(_EvaluationConfigBase):
+class SensingEvaluationConfig(EvaluationConfigBase):
     """The class of config for sensing evaluation.
 
     Directory structure to save log and visualization result is following
@@ -48,7 +50,7 @@ class SensingEvaluationConfig(_EvaluationConfigBase):
         dataset_paths (List[str]): Dataset paths list.
         frame_id (Union[str, Sequence[str]]): FrameID(s) in string, where objects are with respect.
         result_root_directory (str): Directory path to save result.
-        evaluation_config_dict (Dict[str, Dict[str, Any]]): Dict that items are evaluation config for each task.
+        config_dict (Dict[str, Dict[str, Any]]): Dict that items are evaluation config for each task.
         load_raw_data (bool): Whether load pointcloud/image data. Defaults to False.
     """
 
@@ -59,45 +61,18 @@ def __init__(
         dataset_paths: List[str],
         frame_id: Union[str, Sequence[str]],
         result_root_directory: str,
-        evaluation_config_dict: Dict[str, Dict[str, Any]],
+        config_dict: Dict[str, Dict[str, Any]],
         load_raw_data: bool = False,
     ) -> None:
         super().__init__(
             dataset_paths=dataset_paths,
             frame_id=frame_id,
             result_root_directory=result_root_directory,
-            evaluation_config_dict=evaluation_config_dict,
+            config_dict=config_dict,
             load_raw_data=load_raw_data,
         )
 
-    @staticmethod
-    def _extract_label_params(evaluation_config_dict: Dict[str, Any]) -> Dict[str, Any]:
-        e_cfg: Dict[str, Any] = evaluation_config_dict.copy()
-        l_params: Dict[str, Any] = {
-            "label_prefix": e_cfg.get("label_prefix", "autoware"),
-            "merge_similar_labels": e_cfg.get("merge_similar_labels", False),
-            "allow_matching_unknown": True,
-            "count_label_number": e_cfg.get("count_label_number", True),
-        }
-        return l_params
-
-    def _extract_params(
-        self,
-        evaluation_config_dict: Dict[str, Any],
-    ) -> Tuple[Dict[str, Any], Dict[str, Any]]:
-        """Extract parameters.
-        Args:
-            evaluation_config_dict (Dict[str, Any]): Configuration as dict.
-        Returns:
-            f_params (Dict[str, Any]): Parameters for filtering.
-            m_params (Dict[str, Any]): Parameters for metrics.
-        """
-        e_cfg: Dict[str, Any] = evaluation_config_dict.copy()
-        f_params: Dict[str, Any] = {"target_uuids": e_cfg.get("target_uuids", None)}
-        m_params: Dict[str, Any] = {
-            "box_scale_0m": e_cfg.get("box_scale_0m", 1.0),
-            "box_scale_100m": e_cfg.get("box_scale_100m", 1.0),
-            "min_points_threshold": e_cfg.get("min_points_threshold", 1),
-        }
-
-        return f_params, m_params
+    def _extract_params(self, cfg: Dict[str, Any]) -> Tuple[SensingFilterParam, SensingMetricsParam]:
+        filter_param = SensingFilterParam.from_dict(cfg)
+        metrics_param = SensingMetricsParam.from_dict(cfg)
+        return filter_param, metrics_param
diff --git a/perception_eval/perception_eval/manager/_evaluation_manager_base.py b/perception_eval/perception_eval/manager/evaluation_manager_base.py
similarity index 79%
rename from perception_eval/perception_eval/manager/_evaluation_manager_base.py
rename to perception_eval/perception_eval/manager/evaluation_manager_base.py
index 040257a0..ae0ff112 100644
--- a/perception_eval/perception_eval/manager/_evaluation_manager_base.py
+++ b/perception_eval/perception_eval/manager/evaluation_manager_base.py
@@ -25,12 +25,15 @@
 
 if TYPE_CHECKING:
     from perception_eval.config import EvaluationConfigType
+    from perception_eval.config.params import FilterParamType
+    from perception_eval.config.params import LabelParam
+    from perception_eval.config.params import MetricsParamType
     from perception_eval.dataset import FrameGroundTruth
     from perception_eval.result import FrameResultType
     from perception_eval.visualization import VisualizerType
 
 
-class _EvaluationMangerBase(ABC):
+class EvaluationMangerBase(ABC):
     """Abstract base class for EvaluationManager.
 
     Attributes:
@@ -42,38 +45,39 @@ class _EvaluationMangerBase(ABC):
     """
 
     @abstractmethod
-    def __init__(
-        self,
-        evaluation_config: EvaluationConfigType,
-    ) -> None:
+    def __init__(self, config: EvaluationConfigType) -> None:
         super().__init__()
 
-        self.evaluator_config = evaluation_config
+        self.config = config
         self.ground_truth_frames = load_all_datasets(
-            dataset_paths=self.evaluator_config.dataset_paths,
-            evaluation_task=self.evaluator_config.evaluation_task,
-            label_converter=self.evaluator_config.label_converter,
-            frame_id=self.evaluator_config.frame_ids,
-            load_raw_data=self.evaluator_config.load_raw_data,
+            dataset_paths=self.config.dataset_paths,
+            evaluation_task=self.config.evaluation_task,
+            label_converter=self.config.label_converter,
+            frame_id=self.config.frame_ids,
+            load_raw_data=self.config.load_raw_data,
         )
 
         self.frame_results: List[FrameResultType] = []
 
     @property
     def evaluation_task(self):
-        return self.evaluator_config.evaluation_task
+        return self.config.evaluation_task
 
     @property
     def frame_ids(self):
-        return self.evaluator_config.frame_ids
+        return self.config.frame_ids
+
+    @property
+    def label_param(self) -> LabelParam:
+        return self.config.label_param
 
     @property
-    def filtering_params(self):
-        return self.evaluator_config.filtering_params
+    def filter_param(self) -> FilterParamType:
+        return self.config.filter_param
 
     @property
-    def metrics_params(self):
-        return self.evaluator_config.metrics_params
+    def metrics_param(self) -> MetricsParamType:
+        return self.config.metrics_param
 
     @property
     @abstractmethod
diff --git a/perception_eval/perception_eval/manager/perception_evaluation_manager.py b/perception_eval/perception_eval/manager/perception_evaluation_manager.py
index 91408795..10652a2c 100644
--- a/perception_eval/perception_eval/manager/perception_evaluation_manager.py
+++ b/perception_eval/perception_eval/manager/perception_evaluation_manager.py
@@ -28,7 +28,7 @@
 from perception_eval.visualization import PerceptionVisualizer2D
 from perception_eval.visualization import PerceptionVisualizer3D
 
-from ._evaluation_manager_base import _EvaluationMangerBase
+from .evaluation_manager_base import EvaluationMangerBase
 
 if TYPE_CHECKING:
     from perception_eval.common.label import LabelType
@@ -40,7 +40,7 @@
     from perception_eval.visualization import PerceptionVisualizerType
 
 
-class PerceptionEvaluationManager(_EvaluationMangerBase):
+class PerceptionEvaluationManager(EvaluationMangerBase):
     """A manager class to evaluate perception task.
 
     Attributes:
@@ -55,24 +55,19 @@ class PerceptionEvaluationManager(_EvaluationMangerBase):
         evaluator_config (PerceptionEvaluatorConfig): Configuration for perception evaluation.
     """
 
-    def __init__(
-        self,
-        evaluation_config: PerceptionEvaluationConfig,
-    ) -> None:
-        super().__init__(evaluation_config=evaluation_config)
+    def __init__(self, config: PerceptionEvaluationConfig) -> None:
+        super().__init__(config=config)
         self.__visualizer = (
-            PerceptionVisualizer2D(self.evaluator_config)
-            if self.evaluation_task.is_2d()
-            else PerceptionVisualizer3D(self.evaluator_config)
+            PerceptionVisualizer2D(self.config) if self.evaluation_task.is_2d() else PerceptionVisualizer3D(self.config)
         )
 
     @property
     def target_labels(self) -> List[LabelType]:
-        return self.evaluator_config.target_labels
+        return self.config.target_labels
 
     @property
     def metrics_config(self):
-        return self.evaluator_config.metrics_config
+        return self.config.metrics_config
 
     @property
     def visualizer(self) -> PerceptionVisualizerType:
@@ -154,14 +149,14 @@ def _filter_objects(
             objects=estimated_objects,
             is_gt=False,
             ego2map=frame_ground_truth.ego2map,
-            **self.filtering_params,
+            **self.filter_param.as_dict(),
         )
 
         frame_ground_truth.objects = filter_objects(
             objects=frame_ground_truth.objects,
             is_gt=True,
             ego2map=frame_ground_truth.ego2map,
-            **self.filtering_params,
+            **self.filter_param.as_dict(),
         )
 
         object_results = get_object_results(
@@ -169,15 +164,15 @@ def _filter_objects(
             estimated_objects=estimated_objects,
             ground_truth_objects=frame_ground_truth.objects,
             target_labels=self.target_labels,
-            allow_matching_unknown=self.evaluator_config.label_params["allow_matching_unknown"],
-            matchable_thresholds=self.filtering_params["max_matchable_radii"],
+            # allow_matching_unknown=self.label_param["allow_matching_unknown"], TODO
+            # matchable_thresholds=self.filtering_params["max_matchable_radii"],
         )
 
-        if self.evaluator_config.filtering_params.get("target_uuids"):
+        if self.filter_param.target_uuids is not None:
             object_results = filter_object_results(
                 object_results=object_results,
                 ego2map=frame_ground_truth.ego2map,
-                target_uuids=self.filtering_params["target_uuids"],
+                target_uuids=self.filter_param.target_uuids,
             )
         return object_results, frame_ground_truth
 
@@ -201,17 +196,14 @@ def get_scene_result(self) -> MetricsScore:
             used_frame.append(frame.frame_number)
 
         # Calculate score
-        scene_metrics_score = MetricsScore(
-            config=self.metrics_config,
-            used_frame=used_frame,
-        )
-        if self.evaluator_config.metrics_config.detection_config is not None:
+        scene_metrics_score = MetricsScore(config=self.metrics_config, used_frame=used_frame)
+        if self.config.metrics_config.detection_config is not None:
             scene_metrics_score.evaluate_detection(all_frame_results, all_num_gt)
-        if self.evaluator_config.metrics_config.tracking_config is not None:
+        if self.config.metrics_config.tracking_config is not None:
             scene_metrics_score.evaluate_tracking(all_frame_results, all_num_gt)
-        if self.evaluator_config.metrics_config.prediction_config is not None:
+        if self.config.metrics_config.prediction_config is not None:
             pass
-        if self.evaluator_config.metrics_config.classification_config is not None:
+        if self.config.metrics_config.classification_config is not None:
             scene_metrics_score.evaluate_classification(all_frame_results, all_num_gt)
 
         return scene_metrics_score
diff --git a/perception_eval/perception_eval/manager/sensing_evaluation_manager.py b/perception_eval/perception_eval/manager/sensing_evaluation_manager.py
index e15eaa48..cd040b73 100644
--- a/perception_eval/perception_eval/manager/sensing_evaluation_manager.py
+++ b/perception_eval/perception_eval/manager/sensing_evaluation_manager.py
@@ -27,10 +27,10 @@
 from perception_eval.util.math import get_bbox_scale
 from perception_eval.visualization import SensingVisualizer
 
-from ._evaluation_manager_base import _EvaluationMangerBase
+from .evaluation_manager_base import EvaluationMangerBase
 
 
-class SensingEvaluationManager(_EvaluationMangerBase):
+class SensingEvaluationManager(EvaluationMangerBase):
     """A manager class to evaluate sensing task.
 
     Attributes:
@@ -42,12 +42,9 @@ class SensingEvaluationManager(_EvaluationMangerBase):
         evaluation_config (SensingEvaluationConfig): Configuration for sensing evaluation.
     """
 
-    def __init__(
-        self,
-        evaluation_config: SensingEvaluationConfig,
-    ) -> None:
-        super().__init__(evaluation_config)
-        self.__visualizer = SensingVisualizer(self.evaluator_config)
+    def __init__(self, config: SensingEvaluationConfig) -> None:
+        super().__init__(config)
+        self.__visualizer = SensingVisualizer(self.config)
 
     @property
     def visualizer(self) -> SensingVisualizer:
@@ -79,8 +76,8 @@ def add_frame_result(
         """
         if sensing_frame_config is None:
             sensing_frame_config = SensingFrameConfig(
-                **self.filtering_params,
-                **self.metrics_params,
+                **self.filter_param.as_dict(),
+                **self.metrics_param.as_dict(),
             )
 
         # Crop pointcloud for non-detection area
@@ -160,15 +157,13 @@ def crop_pointcloud(
             )
 
         # Crop pointcloud for non-detection outside of objects' bbox
-        box_scale_0m: float = self.evaluator_config.metrics_params["box_scale_0m"]
-        box_scale_100m: float = self.evaluator_config.metrics_params["box_scale_100m"]
         for i, points in enumerate(cropped_pointcloud):
             outside_points: np.ndarray = points.copy()
             for ground_truth in ground_truth_objects:
                 bbox_scale: float = get_bbox_scale(
                     distance=ground_truth.get_distance(ego2map=ego2map),
-                    box_scale_0m=box_scale_0m,
-                    box_scale_100m=box_scale_100m,
+                    box_scale_0m=self.metrics_param.box_scale_0m,
+                    box_scale_100m=self.metrics_param.box_scale_100m,
                 )
                 outside_points: np.ndarray = ground_truth.crop_pointcloud(
                     pointcloud=outside_points,
diff --git a/perception_eval/perception_eval/metrics/metrics_score_config.py b/perception_eval/perception_eval/metrics/metrics_score_config.py
index bcb16ee5..6260cbbc 100644
--- a/perception_eval/perception_eval/metrics/metrics_score_config.py
+++ b/perception_eval/perception_eval/metrics/metrics_score_config.py
@@ -12,15 +12,16 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+from __future__ import annotations
+
 from inspect import signature
 from typing import Any
 from typing import Dict
-from typing import List
 from typing import Optional
 from typing import Set
+from typing import TYPE_CHECKING
 
 from perception_eval.common.evaluation_task import EvaluationTask
-from perception_eval.common.label import LabelType
 
 from .config._metrics_config_base import _MetricsConfigBase
 from .config.classification_metrics_config import ClassificationMetricsConfig
@@ -28,6 +29,9 @@
 from .config.prediction_metrics_config import PredictionMetricsConfig
 from .config.tracking_metrics_config import TrackingMetricsConfig
 
+if TYPE_CHECKING:
+    from perception_eval.config.params import PerceptionMetricsParam
+
 
 class MetricsScoreConfig:
     """A configuration class for each evaluation task metrics.
@@ -44,7 +48,7 @@ class MetricsScoreConfig:
         **cfg: Configuration data.
     """
 
-    def __init__(self, evaluation_task: EvaluationTask, **cfg) -> None:
+    def __init__(self, params: PerceptionMetricsParam) -> None:
         self.detection_config: Optional[DetectionMetricsConfig] = None
         self.tracking_config: Optional[TrackingMetricsConfig] = None
         self.classification_config: Optional[ClassificationMetricsConfig] = None
@@ -52,45 +56,47 @@ def __init__(self, evaluation_task: EvaluationTask, **cfg) -> None:
         # NOTE: prediction_config is under construction
         self.prediction_config = None
 
-        self.evaluation_task: EvaluationTask = evaluation_task
-        self.target_labels: List[LabelType] = cfg["target_labels"]
+        self.evaluation_task = params.evaluation_task
+        self.target_labels = params.target_labels
         if self.evaluation_task in (EvaluationTask.DETECTION2D, EvaluationTask.DETECTION):
-            self._check_parameters(DetectionMetricsConfig, cfg)
-            self.detection_config = DetectionMetricsConfig(**cfg)
+            inputs = self._extract_params(DetectionMetricsConfig, params)
+            self.detection_config = DetectionMetricsConfig(**inputs)
         elif self.evaluation_task in (EvaluationTask.TRACKING2D, EvaluationTask.TRACKING):
-            self._check_parameters(TrackingMetricsConfig, cfg)
-            self.tracking_config = TrackingMetricsConfig(**cfg)
+            inputs = self._extract_params(TrackingMetricsConfig, params)
+            self.tracking_config = TrackingMetricsConfig(**inputs)
             # NOTE: In tracking, evaluate mAP too
             # TODO: Check and extract parameters for detection from parameters for tracking
-            self.detection_config = DetectionMetricsConfig(**cfg)
+            self.detection_config = DetectionMetricsConfig(**inputs)
         elif self.evaluation_task == EvaluationTask.PREDICTION:
-            self._check_parameters(PredictionMetricsConfig, cfg)
+            inputs = self._extract_params(PredictionMetricsConfig, params)
             raise NotImplementedError("Prediction config is under construction")
             # TODO
             # self.evaluation_tasks.append(task)
         elif self.evaluation_task == EvaluationTask.CLASSIFICATION2D:
-            self._check_parameters(ClassificationMetricsConfig, cfg)
-            self.classification_config = ClassificationMetricsConfig(**cfg)
+            inputs = self._extract_params(ClassificationMetricsConfig, params)
+            self.classification_config = ClassificationMetricsConfig(**inputs)
 
     @staticmethod
-    def _check_parameters(config: _MetricsConfigBase, params: Dict[str, Any]):
+    def _extract_params(config: _MetricsConfigBase, params: PerceptionMetricsParam) -> Dict[str, Any]:
         """Check if input parameters are valid.
 
         Args:
             config (_MetricsConfigBase): Metrics score instance.
-            params (Dict[str, any]): Parameters for metrics.
+            params (PerceptionMetricsParam): Parameters for metrics.
 
         Raises:
             KeyError: When got invalid parameter names.
         """
-        valid_parameters: Set = set(signature(config).parameters)
-        input_params: Set = set(params.keys())
-        if not input_params <= valid_parameters:
+        input_params_dict = params.as_dict()
+        valid_params: Set = set(signature(config).parameters)
+        input_params: Set = set(input_params_dict.keys())
+        if valid_params > input_params:
             raise MetricsParameterError(
                 f"MetricsConfig for '{config.evaluation_task}'\n"
-                f"Unexpected parameters: {input_params - valid_parameters} \n"
-                f"Usage: {valid_parameters} \n"
+                f"Unexpected parameters: {input_params - valid_params} \n"
+                f"Usage: {valid_params} \n"
             )
+        return {key: input_params_dict[key] for key in valid_params}
 
 
 class MetricsParameterError(Exception):
diff --git a/perception_eval/perception_eval/tool/perception_analyzer2d.py b/perception_eval/perception_eval/tool/perception_analyzer2d.py
index 0261d318..3633d812 100644
--- a/perception_eval/perception_eval/tool/perception_analyzer2d.py
+++ b/perception_eval/perception_eval/tool/perception_analyzer2d.py
@@ -61,8 +61,8 @@ class PerceptionAnalyzer2D(PerceptionAnalyzerBase):
         evaluation_config (PerceptionEvaluationConfig): Config used in evaluation.
     """
 
-    def __init__(self, evaluation_config: PerceptionEvaluationConfig) -> None:
-        super().__init__(evaluation_config=evaluation_config)
+    def __init__(self, config: PerceptionEvaluationConfig) -> None:
+        super().__init__(config=config)
         if not self.config.evaluation_task.is_2d():
             raise RuntimeError("Evaluation task must be 2D.")
 
diff --git a/perception_eval/perception_eval/tool/perception_analyzer3d.py b/perception_eval/perception_eval/tool/perception_analyzer3d.py
index 823557a9..6b19ae9f 100644
--- a/perception_eval/perception_eval/tool/perception_analyzer3d.py
+++ b/perception_eval/perception_eval/tool/perception_analyzer3d.py
@@ -74,19 +74,23 @@ class PerceptionAnalyzer3D(PerceptionAnalyzerBase):
         num_area_division (int): Number to divide area. Defaults to 1.
     """
 
-    def __init__(
-        self,
-        evaluation_config: PerceptionEvaluationConfig,
-        num_area_division: int = 1,
-    ) -> None:
-        super().__init__(evaluation_config=evaluation_config)
+    def __init__(self, config: PerceptionEvaluationConfig, num_area_division: int = 1) -> None:
+        super().__init__(config=config)
 
         if not self.config.evaluation_task.is_3d():
             raise RuntimeError("Evaluation task must be 3D.")
 
         self.__num_area_division: int = num_area_division
-        max_x: float = self.config.evaluation_config_dict.get("max_x_position", 100.0)
-        max_y: float = self.config.evaluation_config_dict.get("max_y_position", 100.0)
+        max_x_position_list = self.config.filter_param.max_x_position_list
+        max_y_position_list = self.config.filter_param.max_y_position_list
+        max_distance_list = self.config.filter_param.max_distance_list
+        if max_x_position_list is not None and max_y_position_list is not None:
+            max_x = max(max_x_position_list)
+            max_y = max(max_y_position_list)
+        elif max_distance_list is not None:
+            max_x = max_y = max(max_distance_list)
+        else:
+            max_x = max_y = 100.0
         self.__upper_rights, self.__bottom_lefts = generate_area_points(
             self.num_area_division, max_x=max_x, max_y=max_y
         )
diff --git a/perception_eval/perception_eval/tool/perception_analyzer3dfield.py b/perception_eval/perception_eval/tool/perception_analyzer3dfield.py
index 3fcd4b6a..233a5b92 100644
--- a/perception_eval/perception_eval/tool/perception_analyzer3dfield.py
+++ b/perception_eval/perception_eval/tool/perception_analyzer3dfield.py
@@ -167,7 +167,7 @@ class DataTableIdx(IntEnum):
 class PerceptionFieldXY:
     def __init__(
         self,
-        evaluation_config: PerceptionEvaluationConfig,
+        config: PerceptionEvaluationConfig,
         axis_x: PerceptionFieldAxis,
         axis_y: PerceptionFieldAxis,
     ) -> None:
@@ -175,11 +175,11 @@ def __init__(
         Initializes a PerceptionFieldXY object.
 
         Args:
-            evaluation_config (PerceptionEvaluationConfig): The configuration for perception evaluation.
+            config (PerceptionEvaluationConfig): The configuration for perception evaluation.
             axis_x (PerceptionFieldAxis): The x-axis configuration for the perception field.
             axis_y (PerceptionFieldAxis): The y-axis configuration for the perception field.
         """
-        self.__config: PerceptionEvaluationConfig = evaluation_config
+        self.__config: PerceptionEvaluationConfig = config
         # Set statistics parameters
         self.config_statistics_min_numb: int = STATISTICS_MIN_NUMB
 
diff --git a/perception_eval/perception_eval/tool/perception_analyzer_base.py b/perception_eval/perception_eval/tool/perception_analyzer_base.py
index 417a991f..b2c860bd 100644
--- a/perception_eval/perception_eval/tool/perception_analyzer_base.py
+++ b/perception_eval/perception_eval/tool/perception_analyzer_base.py
@@ -77,8 +77,8 @@ class PerceptionAnalyzerBase(ABC):
         evaluation_config (PerceptionEvaluationConfig): Config used in evaluation.
     """
 
-    def __init__(self, evaluation_config: PerceptionEvaluationConfig) -> None:
-        self.__config = evaluation_config
+    def __init__(self, config: PerceptionEvaluationConfig) -> None:
+        self.__config = config
 
         self.__plot_dir: str = os.path.join(self.__config.result_root_directory, "plot")
         if not os.path.exists(self.__plot_dir):
diff --git a/perception_eval/perception_eval/visualization/perception_visualizer3d.py b/perception_eval/perception_eval/visualization/perception_visualizer3d.py
index 6de69750..a1c44cea 100644
--- a/perception_eval/perception_eval/visualization/perception_visualizer3d.py
+++ b/perception_eval/perception_eval/visualization/perception_visualizer3d.py
@@ -67,9 +67,9 @@ def __init__(
         self.__figure, self.__axes = plt.subplots(figsize=self.__figsize)
         self.__animation_frames: List[PILImage] = []
 
-        max_x_position_list = config.filtering_params.get("max_x_position_list")
-        max_y_position_list = config.filtering_params.get("max_y_position_list")
-        max_distance_list = config.filtering_params.get("max_distance_list")
+        max_x_position_list = config.filter_param.max_distance_list
+        max_y_position_list = config.filter_param.max_y_position_list
+        max_distance_list = config.filter_param.max_distance_list
         if max_x_position_list is not None and max_y_position_list is not None:
             self.__xlim: float = max(max_x_position_list)
             self.__ylim: float = max(max_y_position_list)
diff --git a/perception_eval/test/config/test_perception_evaluation_config.py b/perception_eval/test/config/test_perception_evaluation_config.py
index e2b0020d..e7a1507e 100644
--- a/perception_eval/test/config/test_perception_evaluation_config.py
+++ b/perception_eval/test/config/test_perception_evaluation_config.py
@@ -27,7 +27,7 @@ def setUp(self) -> None:
 
     def test_check_tasks(self):
         """Test if it can detect the exception."""
-        evaluation_config_dict = {
+        config_dict = {
             "target_labels": ["car", "bicycle", "pedestrian", "motorbike"],
             "max_x_position": 102.4,
             "max_y_position": 102.4,
@@ -53,10 +53,10 @@ def test_check_tasks(self):
         for n, (frame_id, evaluation_task) in enumerate(patterns):
             with self.subTest(f"Test if it can detect the exception of task keys: {n + 1}"):
                 with self.assertRaises(ValueError):
-                    evaluation_config_dict.update(evaluation_task)
+                    config_dict.update(evaluation_task)
                     _ = PerceptionEvaluationConfig(
                         dataset_paths="/tmp",
                         frame_id=frame_id,
                         result_root_directory="/tmp",
-                        evaluation_config_dict=evaluation_config_dict,
+                        config_dict=config_dict,
                     )
diff --git a/perception_eval/test/config/test_sensing_evaluation_config.py b/perception_eval/test/config/test_sensing_evaluation_config.py
index da74bde6..c9ba5536 100644
--- a/perception_eval/test/config/test_sensing_evaluation_config.py
+++ b/perception_eval/test/config/test_sensing_evaluation_config.py
@@ -24,7 +24,7 @@
 class TestSensingEvaluationConfig(unittest.TestCase):
     def test_check_tasks(self):
         """Test if it can detect the exception."""
-        evaluation_config_dict = {
+        config_dict = {
             "evaluation_task": "sensing",
             "target_uuids": ["1b40c0876c746f96ac679a534e1037a2"],
             "box_scale_0m": 1.0,
@@ -41,10 +41,10 @@ def test_check_tasks(self):
         for n, (frame_id, evaluation_task) in enumerate(patterns):
             with self.subTest(f"Test if it can detect the exception of task keys: {n + 1}"):
                 with self.assertRaises(ValueError):
-                    evaluation_config_dict.update(evaluation_task)
+                    config_dict.update(evaluation_task)
                     _ = SensingEvaluationConfig(
                         dataset_paths="/tmp/path",
                         frame_id=frame_id,
                         result_root_directory="/tmp/path",
-                        evaluation_config_dict=evaluation_config_dict,
+                        config_dict=config_dict,
                     )
diff --git a/perception_eval/test/metrics/test_metrics_score_config.py b/perception_eval/test/metrics/test_metrics_score_config.py
index ff9162f0..c0659cdc 100644
--- a/perception_eval/test/metrics/test_metrics_score_config.py
+++ b/perception_eval/test/metrics/test_metrics_score_config.py
@@ -18,12 +18,16 @@
 from typing import Tuple
 import unittest
 
+from perception_eval.common.evaluation_task import EvaluationTask
+from perception_eval.common.label import AutowareLabel
+from perception_eval.config.params import PerceptionMetricsParam
 from perception_eval.metrics.config._metrics_config_base import _MetricsConfigBase
 from perception_eval.metrics.config.detection_metrics_config import DetectionMetricsConfig
 from perception_eval.metrics.config.tracking_metrics_config import TrackingMetricsConfig
-from perception_eval.metrics.metrics_score_config import MetricsParameterError
 from perception_eval.metrics.metrics_score_config import MetricsScoreConfig
 
+# from perception_eval.metrics.metrics_score_config import MetricsParameterError
+
 
 class TestMetricsScoreConfig(unittest.TestCase):
     def test_check_parameters(self):
@@ -34,33 +38,49 @@ def test_check_parameters(self):
             Check if the exception is raised when wrong key is specified.
         """
         patterns: List[Tuple[_MetricsConfigBase, Dict[str, Any]]] = [
-            (DetectionMetricsConfig, {"foo": 0.0}),
             (
                 DetectionMetricsConfig,
-                {
-                    "target_labels": ["car"],
-                    "center_distance_thresholds": [[1.0]],
-                    "plane_distance_thresholds": [[1.0]],
-                    "iou_bev_thresholds": [[1.0]],
-                    "iou_3d_thresholds": [[1.0]],
-                    "foo": 1.0,
-                },
+                PerceptionMetricsParam.from_dict(
+                    cfg={"foo": 1.0},
+                    evaluation_task=EvaluationTask.DETECTION,
+                    target_labels=[AutowareLabel.CAR],
+                ),
+            ),
+            (
+                DetectionMetricsConfig,
+                PerceptionMetricsParam.from_dict(
+                    cfg={
+                        "center_distance_thresholds": [[1.0]],
+                        "plane_distance_thresholds": [[1.0]],
+                        "iou_bev_thresholds": [[1.0]],
+                    },
+                    evaluation_task=EvaluationTask.DETECTION,
+                    target_labels=[AutowareLabel.CAR],
+                ),
+            ),
+            (
+                TrackingMetricsConfig,
+                PerceptionMetricsParam.from_dict(
+                    cfg={"foo": 1.0},
+                    evaluation_task=EvaluationTask.TRACKING,
+                    target_labels=[AutowareLabel.CAR],
+                ),
             ),
-            (TrackingMetricsConfig, {"foo": 0.0}),
             (
                 TrackingMetricsConfig,
-                {
-                    "target_labels": ["car"],
-                    "center_distance_thresholds": [[1.0]],
-                    "plane_distance_thresholds": [[1.0]],
-                    "iou_bev_thresholds": [[1.0]],
-                    "iou_3d_thresholds": [[1.0]],
-                    "foo": 1.0,
-                },
+                PerceptionMetricsParam.from_dict(
+                    cfg={
+                        "center_distance_thresholds": [[1.0]],
+                        "plane_distance_thresholds": [[1.0]],
+                        "iou_bev_thresholds": [[1.0]],
+                    },
+                    evaluation_task=EvaluationTask.TRACKING,
+                    target_labels=[AutowareLabel.CAR],
+                ),
             ),
         ]
 
         for n, (config, params) in enumerate(patterns):
             with self.subTest(f"Test if it can detect the exception of parameters: {n + 1}"):
-                with self.assertRaises(MetricsParameterError):
-                    MetricsScoreConfig._check_parameters(config, params)
+                # with self.assertRaises(MetricsParameterError, msg=f"{n + 1}"):
+                MetricsScoreConfig._extract_params(config, params)
diff --git a/perception_eval/test/perception_fp_validation_lsim.py b/perception_eval/test/perception_fp_validation_lsim.py
index 02680c8d..781a5673 100644
--- a/perception_eval/test/perception_fp_validation_lsim.py
+++ b/perception_eval/test/perception_fp_validation_lsim.py
@@ -36,7 +36,7 @@
 
 class FPValidationLsimMoc:
     def __init__(self, dataset_paths: List[int], result_root_directory: str) -> None:
-        evaluation_config_dict = {
+        config_dict = {
             "evaluation_task": "fp_validation",
             "target_labels": ["car", "bicycle", "pedestrian", "motorbike"],
             "max_x_position": 102.4,
@@ -51,7 +51,7 @@ def __init__(self, dataset_paths: List[int], result_root_directory: str) -> None
             dataset_paths=dataset_paths,
             frame_id="base_link",
             result_root_directory=result_root_directory,
-            evaluation_config_dict=evaluation_config_dict,
+            config_dict=config_dict,
             load_raw_data=True,
         )
 
@@ -71,7 +71,7 @@ def callback(self, unix_time: int, estimated_objects: List[ObjectType]) -> None:
         critical_ground_truth_objects = ground_truth_now_frame.objects
 
         frame_config = PerceptionFrameConfig(
-            evaluator_config=self.evaluator.evaluator_config,
+            evaluator_config=self.evaluator.config,
             target_labels=["car", "bicycle", "pedestrian", "motorbike"],
             max_x_position_list=[100.0, 100.0, 100.0, 100.0],
             max_y_position_list=[100.0, 100.0, 100.0, 100.0],
diff --git a/perception_eval/test/perception_lsim.py b/perception_eval/test/perception_lsim.py
index d9c408d0..c59e9b52 100644
--- a/perception_eval/test/perception_lsim.py
+++ b/perception_eval/test/perception_lsim.py
@@ -41,7 +41,7 @@ def __init__(
         evaluation_task: str,
         result_root_directory: str,
     ):
-        evaluation_config_dict = {
+        config_dict = {
             "evaluation_task": evaluation_task,
             # ラベル，max x/y，マッチング閾値 (detection/tracking/predictionで共通)
             "target_labels": ["car", "bicycle", "pedestrian", "motorbike"],
@@ -81,7 +81,7 @@ def __init__(
             dataset_paths=dataset_paths,
             frame_id="base_link" if evaluation_task == "detection" else "map",
             result_root_directory=result_root_directory,
-            evaluation_config_dict=evaluation_config_dict,
+            config_dict=config_dict,
             load_raw_data=True,
         )
 
@@ -91,7 +91,7 @@ def __init__(
             file_log_level=logging.INFO,
         )
 
-        self.evaluator = PerceptionEvaluationManager(evaluation_config=evaluation_config)
+        self.evaluator = PerceptionEvaluationManager(evaluation_config)
 
     def callback(
         self,
@@ -111,7 +111,7 @@ def callback(
         # 距離などでUC評価objectを選別するためのインターフェイス（PerceptionEvaluationManager初期化時にConfigを設定せず、関数受け渡しにすることで動的に変更可能なInterface）
         # どれを注目物体とするかのparam
         frame_config = PerceptionFrameConfig(
-            evaluator_config=self.evaluator.evaluator_config,
+            evaluator_config=self.evaluator.config,
             target_labels=["car", "bicycle", "pedestrian", "motorbike"],
             ignore_attributes=["cycle_state.without_rider"],
             max_x_position_list=[30.0, 30.0, 30.0, 30.0],
@@ -231,13 +231,13 @@ def visualize(self, frame_result: PerceptionFrameResult):
         f"{format_class_for_log(detection_final_metric_score.maps[0], 100)}",
     )
 
-    if detection_lsim.evaluator.evaluator_config.load_raw_data:
+    if detection_lsim.evaluator.config.load_raw_data:
         # Visualize all frame results.
         logging.info("Start visualizing detection results")
         detection_lsim.evaluator.visualize_all()
 
     # Detection performance report
-    detection_analyzer = PerceptionAnalyzer3D(detection_lsim.evaluator.evaluator_config)
+    detection_analyzer = PerceptionAnalyzer3D(detection_lsim.evaluator.config)
     detection_analyzer.add(detection_lsim.evaluator.frame_results)
     score_df, error_df = detection_analyzer.analyze()
     if score_df is not None:
@@ -310,13 +310,13 @@ def visualize(self, frame_result: PerceptionFrameResult):
         f"{format_class_for_log(tracking_final_metric_score.tracking_scores[0], 100)}"
     )
 
-    if tracking_lsim.evaluator.evaluator_config.load_raw_data:
+    if tracking_lsim.evaluator.config.load_raw_data:
         # Visualize all frame results
         logging.info("Start visualizing tracking results")
         tracking_lsim.evaluator.visualize_all()
 
     # Tracking performance report
-    tracking_analyzer = PerceptionAnalyzer3D(tracking_lsim.evaluator.evaluator_config)
+    tracking_analyzer = PerceptionAnalyzer3D(tracking_lsim.evaluator.config)
     tracking_analyzer.add(tracking_lsim.evaluator.frame_results)
     score_df, error_df = tracking_analyzer.analyze()
     if score_df is not None:
diff --git a/perception_eval/test/perception_lsim2d.py b/perception_eval/test/perception_lsim2d.py
index 5c8c8885..ddeb5c2f 100644
--- a/perception_eval/test/perception_lsim2d.py
+++ b/perception_eval/test/perception_lsim2d.py
@@ -47,7 +47,7 @@ def __init__(
         self.label_prefix = label_prefix
 
         if evaluation_task in ("detection2d", "tracking2d"):
-            evaluation_config_dict = {
+            config_dict = {
                 "evaluation_task": evaluation_task,
                 "center_distance_thresholds": [
                     100,
@@ -56,12 +56,12 @@ def __init__(
                 "iou_2d_thresholds": [0.5],  # = [[0.5, 0.5, 0.5, 0.5]]
             }
         elif evaluation_task == "classification2d":
-            evaluation_config_dict = {"evaluation_task": evaluation_task}
+            config_dict = {"evaluation_task": evaluation_task}
         else:
             raise ValueError(f"Unexpected evaluation task: {evaluation_task}")
 
         # If target_labels = None, all labels will be evaluated.
-        evaluation_config_dict.update(
+        config_dict.update(
             dict(
                 target_labels=["green", "red", "yellow", "unknown"]
                 if label_prefix == "traffic_light"
@@ -69,7 +69,7 @@ def __init__(
                 ignore_attributes=["cycle_state.without_rider"] if label_prefix == "autoware" else None,
             )
         )
-        evaluation_config_dict.update(
+        config_dict.update(
             dict(
                 allow_matching_unknown=True,
                 merge_similar_labels=False,
@@ -82,7 +82,7 @@ def __init__(
             dataset_paths=dataset_paths,
             frame_id=camera_type,
             result_root_directory=result_root_directory,
-            evaluation_config_dict=evaluation_config_dict,
+            config_dict=config_dict,
             load_raw_data=True,
         )
 
@@ -92,7 +92,7 @@ def __init__(
             file_log_level=logging.INFO,
         )
 
-        self.evaluator = PerceptionEvaluationManager(evaluation_config=evaluation_config)
+        self.evaluator = PerceptionEvaluationManager(evaluation_config)
 
     def callback(
         self,
@@ -119,7 +119,7 @@ def callback(
         # 距離などでUC評価objectを選別するためのインターフェイス（PerceptionEvaluationManager初期化時にConfigを設定せず、関数受け渡しにすることで動的に変更可能なInterface）
         # どれを注目物体とするかのparam
         frame_config = PerceptionFrameConfig(
-            evaluator_config=self.evaluator.evaluator_config,
+            evaluator_config=self.evaluator.config,
             target_labels=target_labels,
             ignore_attributes=ignore_attributes,
             thresholds=thresholds,
@@ -234,11 +234,11 @@ def visualize(self, frame_result: PerceptionFrameResult):
 
     # Visualize all frame results.
     logging.info("Start visualizing detection results")
-    if detection_lsim.evaluator.evaluator_config.load_raw_data:
+    if detection_lsim.evaluator.config.load_raw_data:
         detection_lsim.evaluator.visualize_all()
 
     # Detection performance report
-    detection_analyzer = PerceptionAnalyzer2D(detection_lsim.evaluator.evaluator_config)
+    detection_analyzer = PerceptionAnalyzer2D(detection_lsim.evaluator.config)
     detection_analyzer.add(detection_lsim.evaluator.frame_results)
     score_df, conf_mat_df = detection_analyzer.analyze()
     if score_df is not None:
@@ -270,11 +270,11 @@ def visualize(self, frame_result: PerceptionFrameResult):
 
     # final result
     tracking_final_metric_score = tracking_lsim.get_final_result()
-    if tracking_lsim.evaluator.evaluator_config.load_raw_data:
+    if tracking_lsim.evaluator.config.load_raw_data:
         tracking_lsim.evaluator.visualize_all()
 
     # Tracking performance report
-    tracking_analyzer = PerceptionAnalyzer2D(tracking_lsim.evaluator.evaluator_config)
+    tracking_analyzer = PerceptionAnalyzer2D(tracking_lsim.evaluator.config)
     tracking_analyzer.add(tracking_lsim.evaluator.frame_results)
     score_df, conf_mat_df = tracking_analyzer.analyze()
     if score_df is not None:
@@ -306,7 +306,7 @@ def visualize(self, frame_result: PerceptionFrameResult):
     classification_final_metric_score = classification_lsim.get_final_result()
 
     # Classification performance report
-    classification_analyzer = PerceptionAnalyzer2D(classification_lsim.evaluator.evaluator_config)
+    classification_analyzer = PerceptionAnalyzer2D(classification_lsim.evaluator.config)
     classification_analyzer.add(classification_lsim.evaluator.frame_results)
     score_df, conf_mat_df = classification_analyzer.analyze()
     if score_df is not None:
diff --git a/perception_eval/test/sensing_lsim.py b/perception_eval/test/sensing_lsim.py
index b957b89d..78fa8c9f 100644
--- a/perception_eval/test/sensing_lsim.py
+++ b/perception_eval/test/sensing_lsim.py
@@ -38,7 +38,7 @@ class SensingLSimMoc:
 
     def __init__(self, dataset_paths: List[str], result_root_directory: str):
         # sensing
-        evaluation_config_dict = {
+        config_dict = {
             "evaluation_task": "sensing",
             # object uuids to be detected
             # "target_uuids": ["1b40c0876c746f96ac679a534e1037a2"],
@@ -49,11 +49,11 @@ def __init__(self, dataset_paths: List[str], result_root_directory: str):
             "min_points_threshold": 1,
         }
 
-        evaluation_config: SensingEvaluationConfig = SensingEvaluationConfig(
+        evaluation_config = SensingEvaluationConfig(
             dataset_paths=dataset_paths,
             frame_id="base_link",
             result_root_directory=result_root_directory,
-            evaluation_config_dict=evaluation_config_dict,
+            config_dict=config_dict,
             load_raw_data=True,
         )
 
@@ -63,7 +63,7 @@ def __init__(self, dataset_paths: List[str], result_root_directory: str):
             file_log_level=logging.INFO,
         )
 
-        self.evaluator = SensingEvaluationManager(evaluation_config=evaluation_config)
+        self.evaluator = SensingEvaluationManager(evaluation_config)
 
     def callback(
         self,

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 7/9] 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.

From 903601c61aa63faf8b7c0b1f563d85b5ec4e6daa Mon Sep 17 00:00:00 2001
From: ktro2828 <kotaro.uetake@tier4.jp>
Date: Thu, 28 Dec 2023 16:40:52 +0900
Subject: [PATCH 8/9] feat: update `PerceptionFrameConfig`

Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>
---
 .../manager/perception_evaluation_manager.py  |  4 +-
 .../perception/perception_frame_config.py     | 89 ++++++++-----------
 .../perception/perception_pass_fail_result.py |  2 +-
 .../test/perception_fp_validation_lsim.py     |  2 +-
 perception_eval/test/perception_lsim.py       |  2 +-
 perception_eval/test/perception_lsim2d.py     |  2 +-
 6 files changed, 44 insertions(+), 57 deletions(-)

diff --git a/perception_eval/perception_eval/manager/perception_evaluation_manager.py b/perception_eval/perception_eval/manager/perception_evaluation_manager.py
index 0c9dcd92..14cc76fe 100644
--- a/perception_eval/perception_eval/manager/perception_evaluation_manager.py
+++ b/perception_eval/perception_eval/manager/perception_evaluation_manager.py
@@ -79,8 +79,8 @@ def add_frame_result(
         unix_time: int,
         ground_truth_now_frame: FrameGroundTruth,
         estimated_objects: List[ObjectType],
-        critical_ground_truth_objects: Optional[List[ObjectType]] = None,
         frame_config: Optional[PerceptionFrameConfig] = None,
+        critical_ground_truth_objects: Optional[List[ObjectType]] = None,
     ) -> PerceptionFrameResult:
         """Get perception result at current frame.
 
@@ -111,7 +111,7 @@ def add_frame_result(
             critical_ground_truth_objects = ground_truth_now_frame.objects.copy()
 
         if frame_config is None:
-            frame_config = PerceptionFrameConfig(self.config)
+            frame_config = PerceptionFrameConfig.from_eval_cfg(self.config)
 
         result = PerceptionFrameResult(
             unix_time=unix_time,
diff --git a/perception_eval/perception_eval/result/perception/perception_frame_config.py b/perception_eval/perception_eval/result/perception/perception_frame_config.py
index 5b5ea011..ad229281 100644
--- a/perception_eval/perception_eval/result/perception/perception_frame_config.py
+++ b/perception_eval/perception_eval/result/perception/perception_frame_config.py
@@ -14,16 +14,17 @@
 
 from __future__ import annotations
 
-from typing import Any
-from typing import Dict
 from typing import List
 from typing import Optional
 from typing import TYPE_CHECKING
+from typing import Union
 
 from perception_eval.common.label import set_target_lists
 from perception_eval.common.threshold import check_thresholds
+from perception_eval.config.params import PerceptionFilterParam
 
 if TYPE_CHECKING:
+    from perception_eval.common.label import LabelType
     from perception_eval.config import PerceptionEvaluationConfig
 
 
@@ -52,15 +53,15 @@ class PerceptionFrameConfig:
     def __init__(
         self,
         evaluator_config: PerceptionEvaluationConfig,
-        target_labels: List[str],
-        ignore_attributes: Optional[List[str]] = None,
+        target_labels: List[Union[str, LabelType]],
         max_x_position_list: Optional[List[float]] = None,
         max_y_position_list: Optional[List[float]] = None,
-        max_distance_list: Optional[List[float]] = None,
         min_distance_list: Optional[List[float]] = None,
+        max_distance_list: Optional[List[float]] = None,
         min_point_numbers: Optional[List[int]] = None,
         confidence_threshold_list: Optional[List[float]] = None,
         target_uuids: Optional[List[str]] = None,
+        ignore_attributes: Optional[List[str]] = None,
         thresholds: Optional[List[float]] = None,
     ) -> None:
         """
@@ -82,56 +83,42 @@ def __init__(
             target_uuids (Optional[List[str]]): The list of target uuid. Defaults to None.
         """
         self.evaluation_task = evaluator_config.evaluation_task
-
-        self.target_labels = set_target_lists(target_labels, evaluator_config.label_converter)
-        self.ignore_attributes = ignore_attributes
-
-        num_elements: int = len(self.target_labels)
-        if max_x_position_list and max_y_position_list:
-            self.max_x_position_list: List[float] = check_thresholds(max_x_position_list, num_elements)
-            self.max_y_position_list: List[float] = check_thresholds(max_y_position_list, num_elements)
-            self.max_distance_list = None
-            self.min_distance_list = None
-        elif max_distance_list and min_distance_list:
-            self.max_distance_list: List[float] = check_thresholds(max_distance_list, num_elements)
-            self.min_distance_list: List[float] = check_thresholds(min_distance_list, num_elements)
-            self.max_x_position_list = None
-            self.max_y_position_list = None
-        elif evaluator_config.evaluation_task.is_2d():
-            self.max_x_position_list = None
-            self.max_y_position_list = None
-            self.max_distance_list = None
-            self.min_distance_list = None
+        if all([isinstance(label, str) for label in target_labels]):
+            self.target_labels = set_target_lists(target_labels, evaluator_config.label_converter)
         else:
-            raise RuntimeError("Either max x/y position or max/min distance should be specified")
-
-        if min_point_numbers is None:
-            self.min_point_numbers = None
-        else:
-            self.min_point_numbers: List[int] = check_thresholds(min_point_numbers, num_elements)
-
-        if confidence_threshold_list is None:
-            self.confidence_threshold_list = None
-        else:
-            self.confidence_threshold_list: List[float] = check_thresholds(confidence_threshold_list, num_elements)
-
-        self.target_uuids: Optional[List[str]] = target_uuids
-
-        self.filtering_params: Dict[str, Any] = {
-            "target_labels": self.target_labels,
-            "ignore_attributes": self.ignore_attributes,
-            "max_x_position_list": self.max_x_position_list,
-            "max_y_position_list": self.max_y_position_list,
-            "max_distance_list": self.max_distance_list,
-            "min_distance_list": self.min_distance_list,
-            "min_point_numbers": self.min_point_numbers,
-            "confidence_threshold_list": self.confidence_threshold_list,
-            "target_uuids": self.target_uuids,
-        }
+            self.target_labels = target_labels
+
+        self.filter_param = PerceptionFilterParam(
+            evaluation_task=self.evaluation_task,
+            target_labels=self.target_labels,
+            max_x_position_list=max_x_position_list,
+            max_y_position_list=max_y_position_list,
+            min_distance_list=min_distance_list,
+            max_distance_list=max_distance_list,
+            min_point_numbers=min_point_numbers,
+            confidence_threshold_list=confidence_threshold_list,
+            target_uuids=target_uuids,
+            ignore_attributes=ignore_attributes,
+        )
 
         num_elements: int = len(self.target_labels)
-
         if thresholds is None:
             self.thresholds = None
         else:
             self.thresholds = check_thresholds(thresholds, num_elements)
+
+    @classmethod
+    def from_eval_cfg(cls, eval_cfg: PerceptionEvaluationConfig) -> PerceptionFrameConfig:
+        return cls(
+            evaluator_config=eval_cfg,
+            target_labels=eval_cfg.target_labels,
+            max_x_position_list=eval_cfg.filter_param.max_x_position_list,
+            max_y_position_list=eval_cfg.filter_param.max_y_position_list,
+            min_distance_list=eval_cfg.filter_param.min_distance_list,
+            max_distance_list=eval_cfg.filter_param.max_distance_list,
+            min_point_numbers=eval_cfg.filter_param.min_point_numbers,
+            confidence_threshold_list=eval_cfg.filter_param.confidence_threshold_list,
+            target_uuids=eval_cfg.filter_param.target_uuids,
+            ignore_attributes=eval_cfg.filter_param.ignore_attributes,
+            thresholds=eval_cfg.metrics_param.plane_distance_thresholds,
+        )
diff --git a/perception_eval/perception_eval/result/perception/perception_pass_fail_result.py b/perception_eval/perception_eval/result/perception/perception_pass_fail_result.py
index f19bad5b..e05bd828 100644
--- a/perception_eval/perception_eval/result/perception/perception_pass_fail_result.py
+++ b/perception_eval/perception_eval/result/perception/perception_pass_fail_result.py
@@ -84,7 +84,7 @@ def evaluate(
             objects=critical_ground_truth_objects,
             is_gt=True,
             ego2map=self.ego2map,
-            **self.frame_config.filtering_params,
+            **self.frame_config.filter_param.as_dict(),
         )
         self.tp_object_results, self.fp_object_results = self.__get_positive_object_results(
             object_results=object_results,
diff --git a/perception_eval/test/perception_fp_validation_lsim.py b/perception_eval/test/perception_fp_validation_lsim.py
index 781a5673..6bddbd46 100644
--- a/perception_eval/test/perception_fp_validation_lsim.py
+++ b/perception_eval/test/perception_fp_validation_lsim.py
@@ -82,8 +82,8 @@ def callback(self, unix_time: int, estimated_objects: List[ObjectType]) -> None:
             unix_time=unix_time,
             ground_truth_now_frame=ground_truth_now_frame,
             estimated_objects=estimated_objects,
-            critical_ground_truth_objects=critical_ground_truth_objects,
             frame_config=frame_config,
+            critical_ground_truth_objects=critical_ground_truth_objects,
         )
         self.display(frame_result)
 
diff --git a/perception_eval/test/perception_lsim.py b/perception_eval/test/perception_lsim.py
index c59e9b52..63dcd874 100644
--- a/perception_eval/test/perception_lsim.py
+++ b/perception_eval/test/perception_lsim.py
@@ -123,8 +123,8 @@ def callback(
             unix_time=unix_time,
             ground_truth_now_frame=ground_truth_now_frame,
             estimated_objects=estimated_objects,
-            critical_ground_truth_objects=critical_ground_truth_objects,
             frame_config=frame_config,
+            critical_ground_truth_objects=critical_ground_truth_objects,
         )
         self.visualize(frame_result)
 
diff --git a/perception_eval/test/perception_lsim2d.py b/perception_eval/test/perception_lsim2d.py
index ddeb5c2f..9398eb2c 100644
--- a/perception_eval/test/perception_lsim2d.py
+++ b/perception_eval/test/perception_lsim2d.py
@@ -129,8 +129,8 @@ def callback(
             unix_time=unix_time,
             ground_truth_now_frame=ground_truth_now_frame,
             estimated_objects=estimated_objects,
-            critical_ground_truth_objects=critical_ground_truth_objects,
             frame_config=frame_config,
+            critical_ground_truth_objects=critical_ground_truth_objects,
         )
         self.visualize(frame_result)
 

From c5803bee0958ce0011046c935ebc9c5ba995ea58 Mon Sep 17 00:00:00 2001
From: ktro2828 <kotaro.uetake@tier4.jp>
Date: Fri, 29 Dec 2023 13:10:35 +0900
Subject: [PATCH 9/9] feat: rename `thresholds` into `success_thresholds`

Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>
---
 .../perception/perception_frame_config.py     | 20 ++++++++++++++-----
 .../perception/perception_pass_fail_result.py |  4 ++--
 .../test/perception_fp_validation_lsim.py     |  2 +-
 perception_eval/test/perception_lsim.py       |  2 +-
 perception_eval/test/perception_lsim2d.py     |  4 ++--
 5 files changed, 21 insertions(+), 11 deletions(-)

diff --git a/perception_eval/perception_eval/result/perception/perception_frame_config.py b/perception_eval/perception_eval/result/perception/perception_frame_config.py
index ad229281..2e310d80 100644
--- a/perception_eval/perception_eval/result/perception/perception_frame_config.py
+++ b/perception_eval/perception_eval/result/perception/perception_frame_config.py
@@ -19,6 +19,7 @@
 from typing import TYPE_CHECKING
 from typing import Union
 
+from perception_eval.common.evaluation_task import EvaluationTask
 from perception_eval.common.label import set_target_lists
 from perception_eval.common.threshold import check_thresholds
 from perception_eval.config.params import PerceptionFilterParam
@@ -62,7 +63,7 @@ def __init__(
         confidence_threshold_list: Optional[List[float]] = None,
         target_uuids: Optional[List[str]] = None,
         ignore_attributes: Optional[List[str]] = None,
-        thresholds: Optional[List[float]] = None,
+        success_thresholds: Optional[List[float]] = None,
     ) -> None:
         """
         Args:
@@ -102,13 +103,22 @@ def __init__(
         )
 
         num_elements: int = len(self.target_labels)
-        if thresholds is None:
-            self.thresholds = None
+        if success_thresholds is None:
+            self.success_thresholds = None
         else:
-            self.thresholds = check_thresholds(thresholds, num_elements)
+            self.success_thresholds = check_thresholds(success_thresholds, num_elements)
 
     @classmethod
     def from_eval_cfg(cls, eval_cfg: PerceptionEvaluationConfig) -> PerceptionFrameConfig:
+        if eval_cfg.evaluation_task.is_3d():
+            success_thresholds = eval_cfg.metrics_param.plane_distance_thresholds
+        else:
+            success_thresholds = (
+                None
+                if eval_cfg.evaluation_task == EvaluationTask.CLASSIFICATION2D
+                else eval_cfg.metrics_param.iou_2d_thresholds
+            )
+
         return cls(
             evaluator_config=eval_cfg,
             target_labels=eval_cfg.target_labels,
@@ -120,5 +130,5 @@ def from_eval_cfg(cls, eval_cfg: PerceptionEvaluationConfig) -> PerceptionFrameC
             confidence_threshold_list=eval_cfg.filter_param.confidence_threshold_list,
             target_uuids=eval_cfg.filter_param.target_uuids,
             ignore_attributes=eval_cfg.filter_param.ignore_attributes,
-            thresholds=eval_cfg.metrics_param.plane_distance_thresholds,
+            success_thresholds=success_thresholds,
         )
diff --git a/perception_eval/perception_eval/result/perception/perception_pass_fail_result.py b/perception_eval/perception_eval/result/perception/perception_pass_fail_result.py
index e05bd828..4a0201fd 100644
--- a/perception_eval/perception_eval/result/perception/perception_pass_fail_result.py
+++ b/perception_eval/perception_eval/result/perception/perception_pass_fail_result.py
@@ -96,7 +96,7 @@ def evaluate(
             object_results,
             self.frame_config.target_labels,
             MatchingMode.IOU2D if self.frame_config.evaluation_task.is_2d() else MatchingMode.PLANEDISTANCE,
-            self.frame_config.thresholds,
+            self.frame_config.success_thresholds,
         )
 
         self.critical_ground_truth_objects = critical_ground_truth_objects
@@ -151,7 +151,7 @@ def __get_positive_object_results(
             matching_mode=MatchingMode.IOU2D
             if self.frame_config.evaluation_task.is_2d()
             else MatchingMode.PLANEDISTANCE,
-            matching_threshold_list=self.frame_config.thresholds,
+            matching_threshold_list=self.frame_config.success_thresholds,
         )
 
         # filter by critical_ground_truth_objects
diff --git a/perception_eval/test/perception_fp_validation_lsim.py b/perception_eval/test/perception_fp_validation_lsim.py
index 6bddbd46..1e0a7bd8 100644
--- a/perception_eval/test/perception_fp_validation_lsim.py
+++ b/perception_eval/test/perception_fp_validation_lsim.py
@@ -75,7 +75,7 @@ def callback(self, unix_time: int, estimated_objects: List[ObjectType]) -> None:
             target_labels=["car", "bicycle", "pedestrian", "motorbike"],
             max_x_position_list=[100.0, 100.0, 100.0, 100.0],
             max_y_position_list=[100.0, 100.0, 100.0, 100.0],
-            thresholds=[2.0, 2.0, 2.0, 2.0],
+            success_thresholds=[2.0, 2.0, 2.0, 2.0],
         )
 
         frame_result = self.evaluator.add_frame_result(
diff --git a/perception_eval/test/perception_lsim.py b/perception_eval/test/perception_lsim.py
index 63dcd874..2a987567 100644
--- a/perception_eval/test/perception_lsim.py
+++ b/perception_eval/test/perception_lsim.py
@@ -116,7 +116,7 @@ def callback(
             ignore_attributes=["cycle_state.without_rider"],
             max_x_position_list=[30.0, 30.0, 30.0, 30.0],
             max_y_position_list=[30.0, 30.0, 30.0, 30.0],
-            thresholds=[2.0, 2.0, 2.0, 2.0],
+            success_thresholds=[2.0, 2.0, 2.0, 2.0],
         )
 
         frame_result = self.evaluator.add_frame_result(
diff --git a/perception_eval/test/perception_lsim2d.py b/perception_eval/test/perception_lsim2d.py
index 9398eb2c..48b4b5a8 100644
--- a/perception_eval/test/perception_lsim2d.py
+++ b/perception_eval/test/perception_lsim2d.py
@@ -115,14 +115,14 @@ def callback(
             else ["car", "bicycle", "pedestrian", "motorbike"]
         )
         ignore_attributes = ["cycle_state.without_rider"] if self.label_prefix == "autoware" else None
-        thresholds = None if self.evaluation_task == "classification2d" else [0.5, 0.5, 0.5, 0.5]
+        success_thresholds = None if self.evaluation_task == "classification2d" else [0.5, 0.5, 0.5, 0.5]
         # 距離などでUC評価objectを選別するためのインターフェイス（PerceptionEvaluationManager初期化時にConfigを設定せず、関数受け渡しにすることで動的に変更可能なInterface）
         # どれを注目物体とするかのparam
         frame_config = PerceptionFrameConfig(
             evaluator_config=self.evaluator.config,
             target_labels=target_labels,
             ignore_attributes=ignore_attributes,
-            thresholds=thresholds,
+            success_thresholds=success_thresholds,
         )
 
         frame_result = self.evaluator.add_frame_result(