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feat(perception): add prediction evaluation #40

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feat(perception): add prediction evaluation #40

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fa7645f
feat(perception): add prediction evaluation
hayato-m126 Oct 24, 2024
79812b7
fix: access invalid field
hayato-m126 Nov 13, 2024
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45 changes: 31 additions & 14 deletions driving_log_replayer_v2/scripts/perception_evaluator_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,8 @@

from autoware_perception_msgs.msg import DetectedObject
from autoware_perception_msgs.msg import DetectedObjects
from autoware_perception_msgs.msg import PredictedObject
from autoware_perception_msgs.msg import PredictedObjects
from autoware_perception_msgs.msg import Shape as MsgShape
from autoware_perception_msgs.msg import TrackedObject
from autoware_perception_msgs.msg import TrackedObjects
Expand Down Expand Up @@ -108,7 +110,7 @@ def __init__(
self.__evaluator = PerceptionEvaluationManager(evaluation_config=evaluation_config)
self.__sub_perception = self.create_subscription(
self.__msg_type,
"/perception/object_recognition/" + self.__topic_ns + "/objects",
"/perception/object_recognition/" + self.__topic_ns + "objects",
self.perception_cb,
1,
)
Expand All @@ -124,12 +126,17 @@ def check_evaluation_task(self) -> bool:
if self.__evaluation_task in ["detection", "fp_validation"]:
self.__frame_id_str = "base_link"
self.__msg_type = DetectedObjects
self.__topic_ns = "detection"
self.__topic_ns = "detection/"
return True
if self.__evaluation_task == "tracking":
self.__frame_id_str = "map"
self.__msg_type = TrackedObjects
self.__topic_ns = "tracking"
self.__topic_ns = "tracking/"
return True
if self.__evaluation_task == "prediction":
self.__frame_id_str = "map"
self.__msg_type = PredictedObjects
self.__topic_ns = "" # prediction name space is ""
return True
self.get_logger().error(f"Unexpected evaluation task: {self.__evaluation_task}")
return False
Expand Down Expand Up @@ -172,7 +179,7 @@ def write_metrics(self) -> None:
def list_dynamic_object_from_ros_msg(
self,
unix_time: int,
objects: list[DetectedObject] | list[TrackedObject],
objects: list[DetectedObject] | list[TrackedObject] | list[PredictedObject],
) -> list[DynamicObject] | str:
# return str(error_msg) when footprint points are invalid
estimated_objects: list[DynamicObject] = []
Expand All @@ -191,7 +198,7 @@ def list_dynamic_object_from_ros_msg(
)

uuid = None
if isinstance(perception_object, TrackedObject):
if isinstance(perception_object, TrackedObject | PredictedObject):
uuid = eval_conversions.uuid_from_ros_msg(perception_object.object_id.uuid)

shape_type = ShapeType.BOUNDING_BOX
Expand All @@ -203,10 +210,14 @@ def list_dynamic_object_from_ros_msg(
unix_time=unix_time,
frame_id=self.__frame_id,
position=eval_conversions.position_from_ros_msg(
perception_object.kinematics.pose_with_covariance.pose.position,
perception_object.kinematics.pose_with_covariance.pose.position
if isinstance(perception_object, DetectedObject | TrackedObject)
else perception_object.kinematics.initial_pose_with_covariance.pose.position
),
orientation=eval_conversions.orientation_from_ros_msg(
perception_object.kinematics.pose_with_covariance.pose.orientation,
perception_object.kinematics.pose_with_covariance.pose.orientation
if isinstance(perception_object, DetectedObject | TrackedObject)
else perception_object.kinematics.initial_pose_with_covariance.pose.orientation
),
shape=Shape(
shape_type=shape_type,
Expand All @@ -219,23 +230,29 @@ def list_dynamic_object_from_ros_msg(
),
),
velocity=eval_conversions.velocity_from_ros_msg(
perception_object.kinematics.twist_with_covariance.twist.linear,
perception_object.kinematics.twist_with_covariance.twist.linear
if isinstance(perception_object, DetectedObject | TrackedObject)
else perception_object.kinematics.initial_twist_with_covariance.twist.linear
),
pose_covariance=perception_object.kinematics.pose_with_covariance.covariance,
twist_covariance=perception_object.kinematics.twist_with_covariance.covariance,
pose_covariance=perception_object.kinematics.pose_with_covariance.covariance
if isinstance(perception_object, DetectedObject | TrackedObject)
else perception_object.kinematics.initial_pose_with_covariance.covariance,
twist_covariance=perception_object.kinematics.twist_with_covariance.covariance
if isinstance(perception_object, DetectedObject | TrackedObject)
else perception_object.kinematics.initial_twist_with_covariance.covariance,
semantic_score=most_probable_classification.probability,
semantic_label=label,
uuid=uuid,
)
estimated_objects.append(estimated_object)
return estimated_objects

def perception_cb(self, msg: DetectedObjects | TrackedObjects) -> None:
def perception_cb(self, msg: DetectedObjects | TrackedObjects | PredictedObjects) -> None:
map_to_baselink = self.lookup_transform(msg.header.stamp)
# DetectedObjectとTrackedObjectで違う型ではあるが、estimated_objectを作る上で使用している項目は共通で保持しているので同じ関数で処理できる
# Although there are multiple msg types to receive, the items used to create the estimated_object are held in common, so they can be processed by the same function.
unix_time: int = eval_conversions.unix_time_from_ros_msg(msg.header)
# Tracking objectはtimestampがズレていることがあるのでGTの補間を行う
if isinstance(msg, TrackedObjects):
# Tracking object以降はtimestampがズレていることがあるのでGTの補間を行う
if isinstance(msg, TrackedObjects | PredictedObjects):
interpolation: bool = True
else:
interpolation = False
Expand Down
2 changes: 1 addition & 1 deletion sample/perception/scenario.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@ Evaluation:
Distance: 50.0- # [m] null [Do not filter by distance] or lower_limit-(upper_limit) [Upper limit can be omitted. If omitted value is 1.7976931348623157e+308]
PerceptionEvaluationConfig:
evaluation_config_dict:
evaluation_task: detection # detection or tracking. Evaluate the objects specified here
evaluation_task: detection # detection, tracking, or prediction. Evaluate the objects specified here
target_labels: [car, bicycle, pedestrian, motorbike] # evaluation label
max_x_position: 102.4 # Maximum x position of object to be evaluated
max_y_position: 102.4 # Maximum y position of object to be evaluated
Expand Down
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