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Merge remote-tracking branch 'origin/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 1.16.0
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Major Changes
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Use perception_eval v1.2.0 or later
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| Module | Feature | Brief summary | Pull request | Jira | Contributor |
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| ----------------------- | ------------------- | --------------------------------------------------------- | -------------------------------------------------------------- | -------- | --------------------------------------------- |
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| `obstacle_segmentation` | function | move function from evaluator.py | [#451](https://github.com/tier4/driving_log_replayer/pull/451) | - | [hayato-m126](https://github.com/hayato-m126) |
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| `all` | cli | delete json conversion | [#457](https://github.com/tier4/driving_log_replayer/pull/457) | - | [hayato-m126](https://github.com/hayato-m126) |
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| `traffic_light` | criteria, interface | support multi criterion and update interface | [#291](https://github.com/tier4/driving_log_replayer/pull/291) | RT4-8944 | [hayato-m126](https://github.com/hayato-m126) |
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| `traffic_light` | topic | restore topic name | [#458](https://github.com/tier4/driving_log_replayer/pull/458) | RT4-8944 | [hayato-m126](https://github.com/hayato-m126) |
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| `traffic_light` | frame_id | rename FrameID.TRAFFIC_LIGHT to FrameID.CAM_TRAFFIC_LIGHT | [#460](https://github.com/tier4/driving_log_replayer/pull/460) | RT4-5928 | [ktro2828](https://github.com/ktro2828) |
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## Version 1.15.5
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Minor Tweak

‎docs/overview/command.en.md

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Available commands to run the Autoware evaluation:
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```shell
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# simulation run, both jsonl and json result files are output
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# simulation run
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dlr simulation run -p ${profile}
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# Check results and display summary of result files under output_directory
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dlr simulation show-result ${output_directory}
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# Convert result files to json
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dlr simulation convert-result ${output_directory}
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```
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#### dlr simulation run launch argument option
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└── YYYY-mmDD-HHMMSS // Execution time
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└── TC01 // Name of test case
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│   ├── console.log // Log output to the terminal
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│   ├── result.json　 // Converted result file
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│   ├── result.jsonl // Original result file
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│   ├── result_bag // recorded bag
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│   │   ├── metadata.yaml
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│   ├── DATASET01
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│   │   ├── perception_eval_log // Log files of percepiton_eval
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│   │   │   ...
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│   │   ├── result.json // Converted result file
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│   │   ├── result.jsonl // Original result file
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│   │   ├── result_archive // Directory to output evaluation results other than json
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│   │   │   └── scene_result.pkl // Object file of frame_results evaluated by perception_eval

‎docs/overview/command.ja.md

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simulation を実行するコマンド
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```shell
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# simulation 実行、jsonlとjsonの両方の結果ファイルが出力される
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# simulation 実行
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dlr simulation run -p ${profile}
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# 結果の確認、output_directory以下の結果ファイルのサマリーを表示する
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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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└── YYYY-mmDD-HHMMSS // 実行時刻
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└── TC01 // テストケース名
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│   ├── console.log // ターミナルに出力されているログ
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│   ├── result.json　 // 変換済み結果ファイル
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│   ├── result.jsonl // 変換元結果ファイル
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│   ├── result_bag // recordしたbag
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│   │   ├── metadata.yaml
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│   ├── DATASET01
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│   │   ├── perception_eval_log // percepiton_evalのログ
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│   │   │   ...
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│   │   ├── result.json // 変換済み結果ファイル
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│   │   ├── result.jsonl // 変換元結果ファイル
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│   │   ├── result_archive // json以外の評価結果を出力するディレクトリ
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│   │   │   └── scene_result.pkl // perception_evalで評価したframe_resultsのオブジェクトファイル

‎docs/result_format/index.en.md

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For more information on Frame, see the evaluation results file format for each use case.
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## Output JSON file
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JSONL is used because it can be appended, and one result will be added per topic subscription.
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However, it is easier to read a JSON file format when investigating the files manually.
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Therefore, when simulations are run using driving_log_replayer_cli, the JSON file is also output by default.
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On the other hand, if the simulation is run locally with [wasim](https://docs.web.auto/en/developers-guides/wasim/use-cases/run-simulations-locally/) or in [the cloud](https://docs.web.auto/en/user-manuals/evaluator/introduction), only a JSONL file is created.
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If you want to convert a JSONL file to JSON, you can do so with the following command.
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```shell
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# Conversion of result files, converting result.jsonl under output_directory to result.json
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dlr simulation convert-result ${output_directory}
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```
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## Analyze the result files
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As mentioned in the json output section, json files are output only when driving_log_replayer_cli is used locally.
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Therefore, when analyzing the result files, such as graphing, jsonl should be used as the analysis target.
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With vscode's JSONL Converter, you can easily convert jsonl <-> json with the push of a button
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<https://marketplace.visualstudio.com/items?itemName=F-loat.jsonl-converter>
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If you use python, you can read jsonl [by setting lines=True in pandas.read_json](https://pandas.pydata.org/docs/reference/api/pandas.read_json.html).

‎docs/result_format/index.ja.md

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Frame の詳細については、各ユースケースの評価結果ファイルフォーマットを参照。
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## json ファイルの出力
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jsonl は追記可能で、1 回の topic 受信に対して 1 回分の結果を追記することができるため採用している。
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しかし、人が目で見て結果を確認する場合は、json 形式でインデントされているほうが理解しやすい。
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そのため、driving_log_replayer_cli を用いてシミュレーション実行した場合はデフォルトで json ファイルも出力される。
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一方、ローカルで wasim で実行した場合や、クラウドで実行した場合は jsonl ファイルしか作られない。
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jsonl ファイルを json に変換したい場合は、以下のコマンドで変換することができる。
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```shell
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# 結果ファイルの変換、output_directory以下のresult.jsonlをresult.jsonに変換する
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dlr simulation convert-result ${output_directory}
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```
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## 結果ファイルの分析
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json 出力の項目でも述べた通り、json ファイルの出力はローカルで driving_log_replayer_cli を用いた場合のみ出力される。
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なので、結果ファイルをグラフ化するなどの解析作業を行う場合は、jsonl を解析対象とすること。
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vscodeのJSONL Converterを用いるとボタンを押すだけで容易にjsonl <-> jsonの変換ができる
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<https://marketplace.visualstudio.com/items?itemName=F-loat.jsonl-converter>
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python を用いる場合は、[pandas.read_json で lines=True とすると jsonl を読み込むことができる](https://pandas.pydata.org/docs/reference/api/pandas.read_json.html)

‎driving_log_replayer/CHANGELOG.rst

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Changelog for package driving_log_replayer
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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1.16.0 (2024-05-28)
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-------------------
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* chore: rename `FrameID.TRAFFIC_LIGHT` to `FrameID.CAM_TRAFFIC_LIGHT` (`#460 <https://github.com/tier4/driving_log_replayer/issues/460>`_)
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* chore: restore topic name (`#458 <https://github.com/tier4/driving_log_replayer/issues/458>`_)
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* feat: update tlr new interface (`#291 <https://github.com/tier4/driving_log_replayer/issues/291>`_)
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* chore: cli delete json conversion (`#457 <https://github.com/tier4/driving_log_replayer/issues/457>`_)
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* refactor: move function (`#451 <https://github.com/tier4/driving_log_replayer/issues/451>`_)
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* Contributors: Hayato Mizushima, ktro2828
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1.15.5 (2024-05-16)
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-------------------
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* feat: set use_perception_online_evaluator=true by default (`#449 <https://github.com/tier4/driving_log_replayer/issues/449>`_)

‎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>1.15.5</version>
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<version>1.16.0</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/scripts/traffic_light_evaluator_node.py

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estimated_object = DynamicObject2D(
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unix_time=unix_time,
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frame_id=FrameID.TRAFFIC_LIGHT,
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frame_id=FrameID.CAM_TRAFFIC_LIGHT,
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semantic_score=confidence,
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semantic_label=label,
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cam2map = ground_truth_now_frame.transforms[(FrameID.TRAFFIC_LIGHT, FrameID.MAP)]
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cam2map = ground_truth_now_frame.transforms[(FrameID.CAM_TRAFFIC_LIGHT, FrameID.MAP)]
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for obj in ground_truth_now_frame.objects:
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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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1.16.0 (2024-05-28)
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-------------------
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* chore: rename `FrameID.TRAFFIC_LIGHT` to `FrameID.CAM_TRAFFIC_LIGHT` (`#460 <https://github.com/tier4/driving_log_replayer/issues/460>`_)
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* chore: restore topic name (`#458 <https://github.com/tier4/driving_log_replayer/issues/458>`_)
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* feat: update tlr new interface (`#291 <https://github.com/tier4/driving_log_replayer/issues/291>`_)
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* chore: cli delete json conversion (`#457 <https://github.com/tier4/driving_log_replayer/issues/457>`_)
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* refactor: move function (`#451 <https://github.com/tier4/driving_log_replayer/issues/451>`_)
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* Contributors: Hayato Mizushima, ktro2828
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1.15.5 (2024-05-16)
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-------------------
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* feat: set use_perception_online_evaluator=true by default (`#449 <https://github.com/tier4/driving_log_replayer/issues/449>`_)

‎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>1.15.5</version>
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<version>1.16.0</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_msgs/CHANGELOG.rst

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Changelog for package driving_log_replayer
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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1.16.0 (2024-05-28)
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-------------------
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* chore: rename `FrameID.TRAFFIC_LIGHT` to `FrameID.CAM_TRAFFIC_LIGHT` (`#460 <https://github.com/tier4/driving_log_replayer/issues/460>`_)
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* chore: restore topic name (`#458 <https://github.com/tier4/driving_log_replayer/issues/458>`_)
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* feat: update tlr new interface (`#291 <https://github.com/tier4/driving_log_replayer/issues/291>`_)
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* chore: cli delete json conversion (`#457 <https://github.com/tier4/driving_log_replayer/issues/457>`_)
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* refactor: move function (`#451 <https://github.com/tier4/driving_log_replayer/issues/451>`_)
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* Contributors: Hayato Mizushima, ktro2828
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1.15.5 (2024-05-16)
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-------------------
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* feat: set use_perception_online_evaluator=true by default (`#449 <https://github.com/tier4/driving_log_replayer/issues/449>`_)

‎driving_log_replayer_msgs/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_msgs</name>
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<version>1.15.5</version>
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<version>1.16.0</version>
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<description>driving_log_replayer msgs</description>
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<maintainer email="hayato.mizushima@tier4.jp">Hayato Mizushima</maintainer>
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<license>Apache-2.0</license>

‎pyproject.toml

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[project]
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name = "driving-log-replayer"
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version = "1.15.5"
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version = "1.16.0"
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description = "command line tool for driving_log_replayer"
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authors = [
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{ name = "Hayato Mizushima", email = "hayato.mizushima@tier4.jp" },

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