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feat: add ground_segmentation evaluator #479

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wants to merge 56 commits into from
Closed

feat: add ground_segmentation evaluator #479

wants to merge 56 commits into from

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nanoshimarobot
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Types of PR

  • New Features
  • Upgrade of existing features
  • Bugfix

Description

Add ground segmentation evaluator scenario.
Point cloud data in the t4_dataset needs to have semantic label(ground truth), provided #107, etc.

How to review this PR

Please download test data : TIERIV INTERNAL LINK
The output should look like this:

<< show test result >>
scenario: sample_dataset
--------------------------------------------------
TestResult: Failed
Failed: Ground Segmentation (Fail): 1 / 54 -> 1.85

Others

toyozoshimada and others added 29 commits January 4, 2024 12:11
[update] ground seg evaluator as DLR node
d4b8285
[update] append sub-node
e6d56c2
[update] adjust launch, append rviz config for ground seg eval
bd26359
@nanoshimarobot
test
9958801
@nanoshimarobot
del test
0a08ce8
@nanoshimarobot
[update] publish eval result
257d999
@nanoshimarobot
[update] writeout ground-seg eval result
4dd07a0
@nanoshimarobot
[update] eval process time
3dd6d63
@nanoshimarobot
[update] add guard process
66a4330 
- judge if the cloud has entity_id field
@nanoshimarobot
[update] delete process time eval
8f58c2d
@nanoshimarobot
[fix] delete process time eval
55bc5bd
@nanoshimarobot
[update]
edf3ff5
@nanoshimarobot
[tmp] 一時退避
4079792
@nanoshimarobot
[fix] ground seg eval sub node
f71ff7e
@nanoshimarobot
Merge branch 'feat/ground_segmentation_eval' into feat/ground_segment…
c5b1cb3 
…ation_pcd_eval
@nanoshimarobot
[update] add pcd eval
e61cf27
@nanoshimarobot
[update] debug output
135aaf9
@nanoshimarobot
[update] not to build sub node
d162b94
@nanoshimarobot
[update] add get gt frame timestamp
3cf21e0
@nanoshimarobot
[refactor]
d4e1af2
@nanoshimarobot
Merge branch 'develop' into feat/ground_segmentation_pcd_eval
52d83c6
@nanoshimarobot
[update] play_delay 30.0→10.0
8dd1434
@nanoshimarobot
[remove] sub-eval node
5959a1e
@nanoshimarobot
Merge branch 'develop' into feat/ground_segmentation_pcd_eval
3518d1b
@nanoshimarobot
[update] add accuracy to GroundSegmentationEvalResult
884983e
@nanoshimarobot
[update] evaluator node
f499796
@nanoshimarobot
[update] ground segmentation
c278703
@nanoshimarobot
Merge branch 'develop' into feat/ground_segmentation_pcd_eval
928b355
@nanoshimarobot
Merge branch 'develop' into feat/ground_segmentation_pcd_eval
339777a
@badai-nguyen badai-nguyen requested a review from ktro2828 June 10, 2024 02:07
@nanoshimarobot nanoshimarobot changed the title feat: add ground_segmentation evaluation feat: add ground_segmentation evaluator Jun 11, 2024
@nanoshimarobot nanoshimarobot marked this pull request as ready for review June 11, 2024 04:32
@ktro2828
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@nanoshimarobot Thanks for PR. Could you grant me access to the test data?

@nanoshimarobot
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@nanoshimarobot Thanks for PR. Could you grant me access to the test data?

I apologize for the late reply. Access rights have been granted, so please check.

badai-nguyen
badai-nguyen reviewed Jun 25, 2024
View reviewed changes
driving_log_replayer/launch/ground_segmentation.launch.py Outdated
Comment on lines 28 to 33
autoware_launch = cmn.get_autoware_launch(
planning="false",
localization="false",
control="false",
scenario_simulation="true",
perception_mode="lidar",
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@nanoshimarobot Thank you for your PR.
Since concatenated/pointcloud is already included in T4_dataset, could you add the option to disable "sensing" when running autoware?

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Thank you for your review.
I have modified ground_segmentation.launch.py @cc2e297

@nanoshimarobot
[update] disable sensing when running autoware
cc2e297
@nanoshimarobot
Merge branch 'develop' into feat/ground_segmentation_pcd_eval
a7ccd93
@nanoshimarobot
[update] add sub evaluator node for ground segmenatation
cf375bc
@nanoshimarobot
[update] add evaluation using annotated rosbag
d694029
@nanoshimarobot
[refactor] remove debug output from sub-node
182ab18
@nanoshimarobot
Merge branch 'develop' into feat/ground_segmentation_eval_integ
0d624d7
@nanoshimarobot
[remove] sub_eval node
6b8efd9
@nanoshimarobot
[update] add eval method for annotated rosbag to evaluator_node
61d81c6
@nanoshimarobot
Merge branch 'develop' into feat/ground_segmentation_eval_integ
408bc88
@nanoshimarobot
[update] CMakeLists, package.xml
e44397a
@nanoshimarobot
[update] selct label in scenario.yaml
ce5591e
@nanoshimarobot
[update] add sample scenario
c8ac0c6
@nanoshimarobot
[refactor]
98c6932
@nanoshimarobot
[remove] unused imports
c6ce10b
@nanoshimarobot
[refactor] error message is too long
d30dd53
@nanoshimarobot
[remove] unused configs
2d5098f
@nanoshimarobot
[refactor]
af8650e
@nanoshimarobot
[update] new line
84c72bf
@nanoshimarobot
[reformatted]
ad511fb
@nanoshimarobot
[reformatted]
aaa3ada
@nanoshimarobot
Merge branch 'develop' into feat/ground_segmentation_pcd_eval
a131962
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@badai-nguyen badai-nguyen badai-nguyen left review comments

@ktro2828 ktro2828 Awaiting requested review from ktro2828

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3 participants
@nanoshimarobot @ktro2828 @badai-nguyen