feat!: perception frame config

.vscode/settings.json

@@ -12,7 +12,7 @@
     "editor.formatOnPaste": true,
     "editor.formatOnSave": true,
     "editor.codeActionsOnSave": {
-      "source.organizeImports": true
+      "source.organizeImports": "explicit"
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     "editor.defaultFormatter": "ms-python.black-formatter"
   },

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/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/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/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/dataset/load.py)
 
 | Argument          |                type                 | Description                                       |
 | :---------------- | :---------------------------------: | :------------------------------------------------ |

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

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                                                                                                            |
 | :------------------------ | :--------------------------: | :-------: | :--------------------------------------------------------------------------------------------------------------------- |

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`
 

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                                      |
 | ------------------- | ------------------------------------------ |

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                                   |
 | :----------------------------- | :-------------------: | :-------------------------------------------- |

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/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/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/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/dataset/load.py)
 
 データセットをロードする関数．
 

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．
 

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．

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
 

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                         |
 | ------------------- | ----------------------------- |

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                    |
 | :----------------------------- | :-------------------: | :----------------------------- |