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Merge branch 'main' into feat/#389-set-initial-pose-directly
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‎ReleaseNotes.md

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# Release Notes
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## Version 1.14.8
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Minor Tweak, Bug fix
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| Module | Feature | Brief summary | Pull request | Jira | Contributor |
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| --------------------------- | -------------- | -------------------------- | -------------------------------------------------------------- | -------- | --------------------------------------------- |
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| `annotationless_perception` | unit test | fix unit test | [#402](https://github.com/tier4/driving_log_replayer/pull/402) | - | [hayato-m126](https://github.com/hayato-m126) |
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| `all` | pyproject.toml | update dependency | [#404](https://github.com/tier4/driving_log_replayer/pull/404) | RT4-9477 | [hayato-m126](https://github.com/hayato-m126) |
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| `annotationless_perception` | cli | support scenario less mode | [#405](https://github.com/tier4/driving_log_replayer/pull/405) | RT4-9477 | [hayato-m126](https://github.com/hayato-m126) |
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## Version 1.14.7
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Bug fix
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| Module | Feature | Brief summary | Pull request | Jira | Contributor |
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| --------------------------- | ------- | --------------- | -------------------------------------------------------------- | ---- | --------------------------------------- |
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| `annotationless_perception` | metrics | fix min metrics | [#400](https://github.com/tier4/driving_log_replayer/pull/400) | - | [kosuke55](https://github.com/kosuke55) |
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## Version 1.14.6
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Minor Tweak

‎docs/overview/command.en.md

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@@ -67,6 +67,15 @@ dlr simulation run -p default -l play_rate:=0.5 -l input_pointcloud:=/sensing/li
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# Set perception_mode to camera_lidar_fusion
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dlr simulation run -p default -l perception_mode:=camera_lidar_fusion
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# Dry-run mode to obtain metrics without creating a scenario file
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# set bag, map, sensor_model, vehicle_model, [and vehicle_id] from arguments
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dlr simulation dry-run -p ${profile} -u ${use_case} -l sensor_model:=${sensor_model} -l vehicle_model:=${vehicle_model} -l map_path:=${map_path} -l input_bag:=${bag_path} [-l vehicle_id:=${vehicle_id}]
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# Command example
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# The -p option is used to determine the output destination for bag and result.jsonl. If omitted, the output is sent to the output_directory of the default profile.
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# Currently, use_case is only annotationless_perception, so if -u is omitted, it automatically becomes annotationless_perception.
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dlr simulation dry-run -l input_bag:=$HOME/dlr_data/auto/annotationless/sample/input_bag -l sensor_model:=sample_sensor_kit -l vehicle_model:=sample_vehicle -l map_path:=$HOME/map/sample_map
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```
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The arguments that can be specified can be displayed by using the -s option of ros2 launch.

‎docs/overview/command.ja.md

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@@ -48,6 +48,15 @@ dlr simulation show-result ${output_directory}
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# 結果ファイルをjsonに変換する
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dlr simulation convert-result ${output_directory}
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# シナリオファイルを作成せずに、メトリクスを得るために実行する予行演習モード
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# bag, map, sensor_model, vehicle_model [, vehicle_id] を引数で指定する
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dlr simulation dry-run -p ${profile} -u ${use_case} -l sensor_model:=${sensor_model} -l vehicle_model:=${vehicle_model} -l map_path:=${map_path} -l input_bag:=${bag_path} [-l vehicle_id:=${vehicle_id}]
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# コマンド例
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# -pのオプションは、bagとresult.jsonlの出力先を決めるために使われる。省略するとdefaultプロファイルのoutput_directoryに出力される。
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# 現時点ではuse_caseはannotationless_perceptionのみなので-uを省略すると自動でanontationless_perceptionになる
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dlr simulation dry-run -l input_bag:=$HOME/dlr_data/auto/annotationless/sample/input_bag -l sensor_model:=sample_sensor_kit -l vehicle_model:=sample_vehicle -l map_path:=$HOME/map/sample_map
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```
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#### dlr simulation run launch argument option

‎docs/use_case/annotationless_perception.en.md

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#### min
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If `threshold * lower_limit` <= `maximum value of min` <= `threshold * upper_limit`, it is assumed to be normal.
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Lower limit recommended to be 0.0
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If `threshold * lower_limit` <= `minimum value of min` <= `threshold * upper_limit`, it is assumed to be normal.
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#### max
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‎docs/use_case/annotationless_perception.ja.md

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@@ -37,9 +37,7 @@ topic の subscribe 1 回につき、認識クラス毎に以下に記述する
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#### min
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閾値×下限値　＜＝　minの最大値　＜＝　閾値×上限値であれば正常とする。
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下限値は0.0にすることを推奨
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閾値×下限値　＜＝　minの最小値　＜＝　閾値×上限値であれば正常とする。
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#### max
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‎driving_log_replayer/CHANGELOG.rst

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Changelog for package driving_log_replayer
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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1.14.8 (2024-04-09)
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-------------------
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* fix: annotationless_perception unit test (`#402 <https://github.com/tier4/driving_log_replayer/issues/402>`_)
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* Contributors: Hayato Mizushima
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1.14.7 (2024-04-05)
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-------------------
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* fix: annotationless_perception min metrics (`#400 <https://github.com/tier4/driving_log_replayer/issues/400>`_)
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Co-authored-by: Hayato Mizushima <hayato-m126@users.noreply.github.com>
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* Contributors: Kosuke Takeuchi
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1.14.6 (2024-04-04)
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-------------------
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* feat: `#396 <https://github.com/tier4/driving_log_replayer/issues/396>`_ drop topic footprint 1or2 (`#397 <https://github.com/tier4/driving_log_replayer/issues/397>`_)

‎driving_log_replayer/driving_log_replayer/annotationless_perception.py

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@@ -204,7 +204,7 @@ def calc_average_and_success(
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self.max_success[key] = True
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rdk = self.received_data[key]
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# add
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rdk["min"] = max(rdk["min"], values["min"])
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rdk["min"] = min(rdk["min"], values["min"])
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rdk["max"] = max(rdk["max"], values["max"])
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rdk["mean"] += values["mean"]
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# calc metrics

‎driving_log_replayer/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>driving_log_replayer</name>
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<version>1.14.6</version>
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<version>1.14.8</version>
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<description>The driving_log_replayer package</description>
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<maintainer email="hayato.mizushima@tier4.jp">Hayato Mizushima</maintainer>
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<maintainer email="kotaro.uetake@tier4.jp">Kotaro Uetake</maintainer>

‎driving_log_replayer/test/unittest/test_annotationless_perception.py

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def create_deviation() -> Deviation:
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condition = ClassConditionValue(
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Threshold={"lateral_deviation": DiagValue(min=1.0, max=10.0, mean=5.0)},
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PassRange={"min": "0.0-1.05", "max": "0.0-1.05", "mean": "0.95-1.05"},
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PassRange={"min": "0.2-1.05", "max": "0.0-1.05", "mean": "0.95-1.05"},
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)
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return Deviation(
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name="CAR",
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condition=condition,
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total=9,
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received_data={"lateral_deviation": {"min": 0.0, "max": 0.0, "mean": 45.0}},
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received_data={"lateral_deviation": {"min": 1.0, "max": 0.0, "mean": 45.0}},
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min_success={"lateral_deviation": True},
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max_success={"lateral_deviation": True},
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)
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assert evaluation_item.success is True
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def test_deviation_fail_upper_limit_min(create_deviation: Callable) -> None:
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def test_deviation_fail_lower_limit_min(create_deviation: Callable) -> None:
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evaluation_item: Deviation = create_deviation
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status_dict = {"lateral_deviation": {"min": 2.0, "max": 10.0, "mean": 5.0}}
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status_dict = {"lateral_deviation": {"min": 0.1, "max": 10.0, "mean": 5.0}}
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evaluation_item.set_frame(status_dict)
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assert evaluation_item.success is False
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‎driving_log_replayer_analyzer/CHANGELOG.rst

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Changelog for package driving_log_replayer
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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1.14.8 (2024-04-09)
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-------------------
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* fix: annotationless_perception unit test (`#402 <https://github.com/tier4/driving_log_replayer/issues/402>`_)
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* Contributors: Hayato Mizushima
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1.14.7 (2024-04-05)
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-------------------
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* fix: annotationless_perception min metrics (`#400 <https://github.com/tier4/driving_log_replayer/issues/400>`_)
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Co-authored-by: Hayato Mizushima <hayato-m126@users.noreply.github.com>
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* Contributors: Kosuke Takeuchi
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1.14.6 (2024-04-04)
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-------------------
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* feat: `#396 <https://github.com/tier4/driving_log_replayer/issues/396>`_ drop topic footprint 1or2 (`#397 <https://github.com/tier4/driving_log_replayer/issues/397>`_)

‎driving_log_replayer_analyzer/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>driving_log_replayer_analyzer</name>
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<version>1.14.6</version>
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<version>1.14.8</version>
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<description>The driving_log_replayer_analyzer package</description>
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<maintainer email="hayato.mizushima@tier4.jp">Hayato Mizushima</maintainer>
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<maintainer email="keisuke.shima@tier4.jp">Keisuke Shima</maintainer>

‎driving_log_replayer_cli/core/scenario.py

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SensorModel: str
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VehicleModel: str
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VehicleId: str | None = None
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LocalMapPath: Path | None = None
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LocalMapPath: Path | str = ""
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Evaluation: dict
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@field_validator("LocalMapPath", mode="before")
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@classmethod
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def validate_local_path(cls, v: str | None) -> Path | None:
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if v is None:
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return None
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def validate_local_path(cls, v: str | None) -> Path | str:
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if v == "":
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return ""
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normal_path = Path(expandvars(v))
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if normal_path.exists():
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return normal_path
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return Scenario(**yaml.safe_load(scenario_file))
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def get_dry_run_scenario_path(use_case: str) -> Path:
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return (
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Path(__file__)
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.parent.parent.resolve()
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.joinpath("resources", "sample", use_case, "dry_run.yaml")
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)
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def backup_scenario_file(scenario_path: Path) -> None:
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bak_name = scenario_path.name + f".{datetime.now().strftime('%Y%m%d%H%M%S')}.bak" # noqa
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backup_file_path = scenario_path.parent.joinpath(bak_name)

‎driving_log_replayer_cli/resources/__init__.py

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# Save resource files to be used from cli in this directory.
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# refer https://github.com/psf/black/tree/main/src/black/resources

‎driving_log_replayer_cli/resources/sample

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../../sample

‎driving_log_replayer_cli/simulation/__init__.py

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from driving_log_replayer_cli.core.config import load_config
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from driving_log_replayer_cli.core.result import convert_all
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from driving_log_replayer_cli.core.result import display_all
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from driving_log_replayer_cli.simulation.run import dry_run as sim_dry_run
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from driving_log_replayer_cli.simulation.run import run as sim_run
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from driving_log_replayer_cli.simulation.update import update_annotationless_scenario_condition
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)
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@simulation.command(context_settings=CONTEXT_SETTINGS)
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@click.option("--profile", "-p", type=str, default="default")
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@click.option(
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"--use-case",
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"-u",
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type=click.Choice(["annotationless_perception"]),
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default="annotationless_perception",
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)
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@click.option("--launch_args", "-l", multiple=True, default=[])
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def dry_run(
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profile: str,
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use_case: str,
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launch_args: list[str],
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) -> None:
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config: Config = load_config(profile)
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sim_dry_run(
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config,
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use_case,
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launch_args,
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)
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@simulation.command(context_settings=CONTEXT_SETTINGS)
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@click.argument(
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"output_directory",

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