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feat(perception_evaluator): counts objects within detection range (#6848
) * feat(perception_evaluator): counts objects within detection range Signed-off-by: kosuke55 <[email protected]> detection counter Signed-off-by: kosuke55 <[email protected]> add enable option and refactoring Signed-off-by: kosuke55 <[email protected]> fix update document Signed-off-by: kosuke55 <[email protected]> readme Signed-off-by: kosuke55 <[email protected]> clean up Signed-off-by: kosuke55 <[email protected]> * fix from review Signed-off-by: kosuke55 <[email protected]> * use $ Signed-off-by: kosuke55 <[email protected]> fix Signed-off-by: kosuke55 <[email protected]> * fix include Signed-off-by: kosuke55 <[email protected]> --------- Signed-off-by: kosuke55 <[email protected]>
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...rception_online_evaluator/include/perception_online_evaluator/metrics/detection_count.hpp
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| // Copyright 2024 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. | ||
|
|
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| #ifndef PERCEPTION_ONLINE_EVALUATOR__METRICS__DETECTION_COUNT_HPP_ | ||
| #define PERCEPTION_ONLINE_EVALUATOR__METRICS__DETECTION_COUNT_HPP_ | ||
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| #include "perception_online_evaluator/parameters.hpp" | ||
| #include "perception_online_evaluator/stat.hpp" | ||
| #include "tf2_ros/buffer.h" | ||
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| #include <rclcpp/rclcpp.hpp> | ||
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| #include "autoware_auto_perception_msgs/msg/object_classification.hpp" | ||
| #include "autoware_auto_perception_msgs/msg/predicted_objects.hpp" | ||
| #include <geometry_msgs/msg/pose.hpp> | ||
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| #include <iomanip> | ||
| #include <memory> | ||
| #include <set> | ||
| #include <sstream> | ||
| #include <string> | ||
| #include <unordered_map> | ||
| #include <vector> | ||
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| namespace perception_diagnostics | ||
| { | ||
| namespace metrics | ||
| { | ||
| using autoware_auto_perception_msgs::msg::ObjectClassification; | ||
| using autoware_auto_perception_msgs::msg::PredictedObjects; | ||
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| struct DetectionRange | ||
| { | ||
| double radius; | ||
| double height; | ||
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| DetectionRange(double radius, double height) : radius(radius), height(height) {} | ||
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| std::string toString() const | ||
| { | ||
| std::ostringstream oss; | ||
| oss << std::fixed << std::setprecision(2); | ||
| oss << "r" << radius << "_h" << height; | ||
| return oss.str(); | ||
| } | ||
| }; | ||
| using DetectionRanges = std::vector<DetectionRange>; | ||
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| /* | ||
| * @brief Class to count objects detected within a certain range for each class | ||
| * The overall frame is not eternal, and data older than the purge seconds is deleted to prevent | ||
| memory bloat. | ||
| 1. Count the total number of unique objects detected across the overall frame. Data older than the | ||
| purge seconds is deleted to prevent memory bloat. | ||
| 2. Calculate the average number of objects detected in each frame across the overall frame. | ||
| 3. Calculate the average number of objects detected in each frame within a certain time frame. | ||
| */ | ||
| class DetectionCounter | ||
| { | ||
| public: | ||
| /* | ||
| * @brief Constructor | ||
| * @param parameters Parameters for the perception online evaluator | ||
| */ | ||
| explicit DetectionCounter(const std::shared_ptr<Parameters> & parameters) | ||
| : parameters_(parameters) | ||
| { | ||
| } | ||
| /* | ||
| * @brief Add objects to the detection counter | ||
| * @param objects Predicted objects | ||
| * @param tf_buffer tf2 buffer for transforming object poses | ||
| */ | ||
| void addObjects(const PredictedObjects & objects, const tf2_ros::Buffer & tf_buffer); | ||
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| /* | ||
| * @brief Get the average count of objects detected in the last `seconds` seconds | ||
| * @param seconds Time window in seconds | ||
| * @return Map of classification to range to average count | ||
| */ | ||
| std::unordered_map<std::uint8_t, std::unordered_map<std::string, double>> getAverageCount( | ||
| double seconds) const; | ||
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| /* | ||
| * @brief Get the overall average count of objects detected | ||
| * @return Map of classification to range to average count | ||
| */ | ||
| std::unordered_map<std::uint8_t, std::unordered_map<std::string, double>> getOverallAverageCount() | ||
| const; | ||
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| /* | ||
| * @brief Get the total count of objects detected | ||
| * @return Map of classification to range to total count | ||
| */ | ||
| std::unordered_map<std::uint8_t, std::unordered_map<std::string, size_t>> getTotalCount() const; | ||
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| private: | ||
| /* | ||
| * @brief Initialize the detection map | ||
| */ | ||
| void initializeDetectionMap(); | ||
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| /* | ||
| * @brief Update the detection map with a new detection | ||
| * @param uuid UUID of the detected object | ||
| * @param classification Classification of the detected object | ||
| * @param range Range of the detected object | ||
| * @param timestamp Timestamp of the detection | ||
| */ | ||
| void updateDetectionMap( | ||
| const std::string uuid, const std::uint8_t classification, const std::string & range, | ||
| const rclcpp::Time & timestamp); | ||
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| /* | ||
| * @brief Purge old records from the detection map | ||
| * @param current_time Current time | ||
| */ | ||
| void purgeOldRecords(rclcpp::Time current_time); | ||
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| /* | ||
| * @brief Get the DetectionRanges from parameters | ||
| * @return Detection ranges | ||
| */ | ||
| DetectionRanges getRanges() const; | ||
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| std::shared_ptr<Parameters> parameters_; | ||
| std::set<rclcpp::Time> unique_timestamps_; | ||
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| // Structures for storing detection counts and UUIDs for uniqueness checks | ||
| std::unordered_map<std::uint8_t, std::unordered_map<std::string, std::vector<rclcpp::Time>>> | ||
| time_series_counts_; | ||
| std::unordered_map<std::uint8_t, std::unordered_map<std::string, std::set<std::string>>> | ||
| seen_uuids_; | ||
| }; | ||
| } // namespace metrics | ||
| } // namespace perception_diagnostics | ||
|
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| #endif // PERCEPTION_ONLINE_EVALUATOR__METRICS__DETECTION_COUNT_HPP_ |
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