Merge branch 'main' into feat/add_nerf_based_localizer

Author: SakodaShintaro

.github/workflows/build-and-test-self-hosted.yaml .github/workflows/build-and-test-arm64.yaml

@@ -1,12 +1,12 @@
-name: build-and-test-self-hosted
+name: build-and-test-arm64
 
 on:
   schedule:
     - cron: 0 0 * * *
   workflow_dispatch:
 
 jobs:
-  build-and-test-self-hosted:
+  build-and-test-arm64:
     runs-on: [self-hosted, linux, ARM64]
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
@@ -19,12 +19,15 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
+            container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
 
+      - name: Show disk space before the tasks
+        run: df -h
+
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 
@@ -47,3 +50,6 @@ jobs:
           rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-self-packages.outputs.self-packages }}
           build-depends-repos: ${{ matrix.build-depends-repos }}
+
+      - name: Show disk space after the tasks
+        run: df -h

.github/workflows/build-and-test-differential-self-hosted.yaml .github/workflows/build-and-test-differential-arm64.yaml

@@ -1,4 +1,4 @@
-name: build-and-test-differential-self-hosted
+name: build-and-test-differential-arm64
 
 on:
   pull_request:
@@ -12,9 +12,9 @@ jobs:
   prevent-no-label-execution:
     uses: autowarefoundation/autoware-github-actions/.github/workflows/prevent-no-label-execution.yaml@v1
     with:
-      label: ARM64
+      label: type:arm64
 
-  build-and-test-differential-self-hosted:
+  build-and-test-differential-arm64:
     needs: prevent-no-label-execution
     if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
     runs-on: [self-hosted, linux, ARM64]
@@ -29,14 +29,17 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
+            container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
         with:
           fetch-depth: 0
 
+      - name: Show disk space before the tasks
+        run: df -h
+
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 
@@ -59,3 +62,6 @@ jobs:
           rosdistro: ${{ matrix.rosdistro }}
           target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }}
           build-depends-repos: ${{ matrix.build-depends-repos }}
+
+      - name: Show disk space after the tasks
+        run: df -h

.github/workflows/build-and-test-differential.yaml

@@ -16,26 +16,27 @@ jobs:
   build-and-test-differential:
     needs: prevent-no-label-execution
     if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
-    runs-on: [self-hosted, linux, X64]
+    runs-on: ubuntu-latest
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false
       matrix:
         rosdistro:
           - humble
         container-suffix:
+          - ""
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
+            container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
         with:
           fetch-depth: 0
 
-      - name: Check disk space before build
+      - name: Show disk space before the tasks
         run: df -h
 
       - name: Remove exec_depend
@@ -71,5 +72,5 @@ jobs:
           verbose: true
           flags: differential
 
-      - name: Check disk space after build
+      - name: Show disk space after the tasks
         run: df -h

.github/workflows/build-and-test.yaml

@@ -9,7 +9,7 @@ on:
 jobs:
   build-and-test:
     if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }}
-    runs-on: [self-hosted, linux, X64]
+    runs-on: ubuntu-latest
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false
@@ -21,12 +21,15 @@ jobs:
           - -cuda
         include:
           - rosdistro: humble
-            container: ghcr.io/autowarefoundation/autoware-universe:humble-latest
+            container: ghcr.io/autowarefoundation/autoware-openadk:latest-prebuilt
             build-depends-repos: build_depends.repos
     steps:
       - name: Check out repository
         uses: actions/checkout@v3
 
+      - name: Show disk space before the tasks
+        run: df -h
+
       - name: Remove exec_depend
         uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1
 
@@ -59,3 +62,6 @@ jobs:
           fail_ci_if_error: false
           verbose: true
           flags: total
+
+      - name: Show disk space after the tasks
+        run: df -h

evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics_calculator.hpp

@@ -19,6 +19,7 @@
 #include "perception_online_evaluator/metrics/metric.hpp"
 #include "perception_online_evaluator/parameters.hpp"
 #include "perception_online_evaluator/stat.hpp"
+#include "perception_online_evaluator/utils/objects_filtering.hpp"
 
 #include <rclcpp/time.hpp>
 
@@ -118,9 +119,9 @@ class MetricsCalculator
   void deleteOldObjects(const rclcpp::Time stamp);
 
   // Calculate metrics
-  MetricStatMap calcLateralDeviationMetrics(const PredictedObjects & objects) const;
-  MetricStatMap calcYawDeviationMetrics(const PredictedObjects & objects) const;
-  MetricStatMap calcPredictedPathDeviationMetrics(const PredictedObjects & objects) const;
+  MetricStatMap calcLateralDeviationMetrics(const ClassObjectsMap & class_objects_map) const;
+  MetricStatMap calcYawDeviationMetrics(const ClassObjectsMap & class_objects_map) const;
+  MetricStatMap calcPredictedPathDeviationMetrics(const ClassObjectsMap & class_objects_map) const;
   Stat<double> calcPredictedPathDeviationMetrics(
     const PredictedObjects & objects, const double time_horizon) const;
 

evaluator/perception_online_evaluator/include/perception_online_evaluator/utils/objects_filtering.hpp

@@ -37,6 +37,8 @@ using autoware_auto_perception_msgs::msg::ObjectClassification;
 using autoware_auto_perception_msgs::msg::PredictedObject;
 using autoware_auto_perception_msgs::msg::PredictedObjects;
 
+using ClassObjectsMap = std::unordered_map<uint8_t, PredictedObjects>;
+
 std::uint8_t getHighestProbLabel(const std::vector<ObjectClassification> & classification);
 
 /**
@@ -105,6 +107,14 @@ void filterObjects(PredictedObjects & objects, Func filter)
   filterObjects(objects, removed_objects, filter);
 }
 
+/**
+ * @brief Separates the provided objects based on their classification.
+ *
+ * @param objects The predicted objects to be separated.
+ * @return A map of objects separated by their classification.
+ */
+ClassObjectsMap separateObjectsByClass(const PredictedObjects & objects);
+
 /**
  * @brief Filters the provided objects based on their classification.
  *

evaluator/perception_online_evaluator/package.xml

@@ -24,6 +24,7 @@
   <depend>libgoogle-glog-dev</depend>
   <depend>motion_utils</depend>
   <depend>nav_msgs</depend>
+  <depend>object_recognition_utils</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>

evaluator/perception_online_evaluator/src/metrics_calculator.cpp

@@ -15,13 +15,15 @@
 #include "perception_online_evaluator/metrics_calculator.hpp"
 
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "perception_online_evaluator/utils/objects_filtering.hpp"
+#include "object_recognition_utils/object_recognition_utils.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include <tier4_autoware_utils/ros/uuid_helper.hpp>
 
 namespace perception_diagnostics
 {
+using object_recognition_utils::convertLabelToString;
+
 std::optional<MetricStatMap> MetricsCalculator::calculate(const Metric & metric) const
 {
   if (object_map_.empty()) {
@@ -35,14 +37,14 @@ std::optional<MetricStatMap> MetricsCalculator::calculate(const Metric & metric)
     return {};
   }
   const auto target_objects = getObjectsByStamp(target_stamp);
-
+  const ClassObjectsMap class_objects_map = separateObjectsByClass(target_objects);
   switch (metric) {
     case Metric::lateral_deviation:
-      return calcLateralDeviationMetrics(target_objects);
+      return calcLateralDeviationMetrics(class_objects_map);
     case Metric::yaw_deviation:
-      return calcYawDeviationMetrics(target_objects);
+      return calcYawDeviationMetrics(class_objects_map);
     case Metric::predicted_path_deviation:
-      return calcPredictedPathDeviationMetrics(target_objects);
+      return calcPredictedPathDeviationMetrics(class_objects_map);
     default:
       return {};
   }
@@ -155,65 +157,70 @@ PredictedObjects MetricsCalculator::getObjectsByStamp(const rclcpp::Time stamp)
   return objects;
 }
 
-MetricStatMap MetricsCalculator::calcLateralDeviationMetrics(const PredictedObjects & objects) const
+MetricStatMap MetricsCalculator::calcLateralDeviationMetrics(
+  const ClassObjectsMap & class_objects_map) const
 {
-  Stat<double> stat{};
-  const auto stamp = rclcpp::Time(objects.header.stamp);
-
-  for (const auto & object : objects.objects) {
-    const auto uuid = tier4_autoware_utils::toHexString(object.object_id);
-    if (!hasPassedTime(uuid, stamp)) {
-      continue;
-    }
-    const auto object_pose = object.kinematics.initial_pose_with_covariance.pose;
-    const auto history_path = history_path_map_.at(uuid).second;
-    if (history_path.empty()) {
-      continue;
+  MetricStatMap metric_stat_map{};
+  for (const auto & [label, objects] : class_objects_map) {
+    Stat<double> stat{};
+    const auto stamp = rclcpp::Time(objects.header.stamp);
+    for (const auto & object : objects.objects) {
+      const auto uuid = tier4_autoware_utils::toHexString(object.object_id);
+      if (!hasPassedTime(uuid, stamp)) {
+        continue;
+      }
+      const auto object_pose = object.kinematics.initial_pose_with_covariance.pose;
+      const auto history_path = history_path_map_.at(uuid).second;
+      if (history_path.empty()) {
+        continue;
+      }
+      stat.add(metrics::calcLateralDeviation(history_path, object_pose));
     }
-    stat.add(metrics::calcLateralDeviation(history_path, object_pose));
+    metric_stat_map["lateral_deviation_" + convertLabelToString(label)] = stat;
   }
-
-  MetricStatMap metric_stat_map;
-  metric_stat_map["lateral_deviation"] = stat;
   return metric_stat_map;
 }
 
-MetricStatMap MetricsCalculator::calcYawDeviationMetrics(const PredictedObjects & objects) const
+MetricStatMap MetricsCalculator::calcYawDeviationMetrics(
+  const ClassObjectsMap & class_objects_map) const
 {
-  Stat<double> stat{};
-  const auto stamp = rclcpp::Time(objects.header.stamp);
-  for (const auto & object : objects.objects) {
-    const auto uuid = tier4_autoware_utils::toHexString(object.object_id);
-    if (!hasPassedTime(uuid, stamp)) {
-      continue;
-    }
-    const auto object_pose = object.kinematics.initial_pose_with_covariance.pose;
-    const auto history_path = history_path_map_.at(uuid).second;
-    if (history_path.empty()) {
-      continue;
+  MetricStatMap metric_stat_map{};
+  for (const auto & [label, objects] : class_objects_map) {
+    Stat<double> stat{};
+    const auto stamp = rclcpp::Time(objects.header.stamp);
+    for (const auto & object : objects.objects) {
+      const auto uuid = tier4_autoware_utils::toHexString(object.object_id);
+      if (!hasPassedTime(uuid, stamp)) {
+        continue;
+      }
+      const auto object_pose = object.kinematics.initial_pose_with_covariance.pose;
+      const auto history_path = history_path_map_.at(uuid).second;
+      if (history_path.empty()) {
+        continue;
+      }
+      stat.add(metrics::calcYawDeviation(history_path, object_pose));
     }
-    stat.add(metrics::calcYawDeviation(history_path, object_pose));
+    metric_stat_map["yaw_deviation_" + convertLabelToString(label)] = stat;
   }
-
-  MetricStatMap metric_stat_map;
-  metric_stat_map["yaw_deviation"] = stat;
   return metric_stat_map;
 }
 
 MetricStatMap MetricsCalculator::calcPredictedPathDeviationMetrics(
-  const PredictedObjects & objects) const
+  const ClassObjectsMap & class_objects_map) const
 {
   const auto time_horizons = parameters_->prediction_time_horizons;
 
-  MetricStatMap metric_stat_map;
-  for (const double time_horizon : time_horizons) {
-    const auto stat = calcPredictedPathDeviationMetrics(objects, time_horizon);
-    std::ostringstream stream;
-    stream << std::fixed << std::setprecision(2) << time_horizon;
-    std::string time_horizon_str = stream.str();
-    metric_stat_map["predicted_path_deviation_" + time_horizon_str] = stat;
+  MetricStatMap metric_stat_map{};
+  for (const auto & [label, objects] : class_objects_map) {
+    for (const double time_horizon : time_horizons) {
+      const auto stat = calcPredictedPathDeviationMetrics(objects, time_horizon);
+      std::ostringstream stream;
+      stream << std::fixed << std::setprecision(2) << time_horizon;
+      std::string time_horizon_str = stream.str();
+      metric_stat_map
+        ["predicted_path_deviation_" + convertLabelToString(label) + "_" + time_horizon_str] = stat;
+    }
   }
-
   return metric_stat_map;
 }
 

evaluator/perception_online_evaluator/src/utils/objects_filtering.cpp

@@ -83,6 +83,17 @@ bool isTargetObjectType(
     (t == ObjectClassification::PEDESTRIAN && target_object_types.check_pedestrian));
 }
 
+ClassObjectsMap separateObjectsByClass(const PredictedObjects & objects)
+{
+  ClassObjectsMap separated_objects;
+  for (const auto & object : objects.objects) {
+    const auto label = getHighestProbLabel(object.classification);
+    separated_objects[label].objects.push_back(object);
+    separated_objects[label].header = objects.header;
+  }
+  return separated_objects;
+}
+
 void filterObjectsByClass(
   PredictedObjects & objects, const ObjectTypesToCheck & target_object_types)
 {