rename to perception_online_evaluator

Signed-off-by: kosuke55 <[email protected]>

evaluator/perception_evaluator/CMakeLists.txt → evaluator/perception_online_evaluator/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.14)
-project(perception_evaluator)
+project(perception_online_evaluator)
 
 find_package(autoware_cmake REQUIRED)
 autoware_package()
@@ -17,7 +17,7 @@ ament_auto_add_library(${PROJECT_NAME}_node SHARED
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}_node
-  PLUGIN "perception_diagnostics::PerceptionEvaluatorNode"
+  PLUGIN "perception_diagnostics::PerceptionOnlineEvaluatorNode"
   EXECUTABLE ${PROJECT_NAME}
 )
 

evaluator/perception_evaluator/include/perception_evaluator/metrics/deviation_metrics.hpp → evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/deviation_metrics.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_
-#define PERCEPTION_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_
+#ifndef PERCEPTION_ONLINE_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_
+#define PERCEPTION_ONLINE_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_
 
-#include "perception_evaluator/stat.hpp"
+#include "perception_online_evaluator/stat.hpp"
 
 #include <autoware_auto_perception_msgs/msg/predicted_path.hpp>
 #include <geometry_msgs/msg/pose.hpp>
@@ -50,4 +50,4 @@ std::vector<double> calcPredictedPathDeviation(
 }  // namespace metrics
 }  // namespace perception_diagnostics
 
-#endif  // PERCEPTION_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_
+#endif  // PERCEPTION_ONLINE_EVALUATOR__METRICS__DEVIATION_METRICS_HPP_

evaluator/perception_evaluator/include/perception_evaluator/metrics/metric.hpp → evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/metric.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_EVALUATOR__METRICS__METRIC_HPP_
-#define PERCEPTION_EVALUATOR__METRICS__METRIC_HPP_
+#ifndef PERCEPTION_ONLINE_EVALUATOR__METRICS__METRIC_HPP_
+#define PERCEPTION_ONLINE_EVALUATOR__METRICS__METRIC_HPP_
 
-#include "perception_evaluator/stat.hpp"
+#include "perception_online_evaluator/stat.hpp"
 
 #include <iostream>
 #include <string>
@@ -72,4 +72,4 @@ static struct CheckCorrectMaps
 }  // namespace details
 }  // namespace perception_diagnostics
 
-#endif  // PERCEPTION_EVALUATOR__METRICS__METRIC_HPP_
+#endif  // PERCEPTION_ONLINE_EVALUATOR__METRICS__METRIC_HPP_

evaluator/perception_evaluator/include/perception_evaluator/metrics_calculator.hpp → evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics_calculator.hpp

@@ -12,13 +12,13 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_EVALUATOR__METRICS_CALCULATOR_HPP_
-#define PERCEPTION_EVALUATOR__METRICS_CALCULATOR_HPP_
+#ifndef PERCEPTION_ONLINE_EVALUATOR__METRICS_CALCULATOR_HPP_
+#define PERCEPTION_ONLINE_EVALUATOR__METRICS_CALCULATOR_HPP_
 
-#include "perception_evaluator/metrics/deviation_metrics.hpp"
-#include "perception_evaluator/metrics/metric.hpp"
-#include "perception_evaluator/parameters.hpp"
-#include "perception_evaluator/stat.hpp"
+#include "perception_online_evaluator/metrics/deviation_metrics.hpp"
+#include "perception_online_evaluator/metrics/metric.hpp"
+#include "perception_online_evaluator/parameters.hpp"
+#include "perception_online_evaluator/stat.hpp"
 
 #include <rclcpp/time.hpp>
 
@@ -138,4 +138,4 @@ class MetricsCalculator
 
 }  // namespace perception_diagnostics
 
-#endif  // PERCEPTION_EVALUATOR__METRICS_CALCULATOR_HPP_
+#endif  // PERCEPTION_ONLINE_EVALUATOR__METRICS_CALCULATOR_HPP_

evaluator/perception_evaluator/include/perception_evaluator/parameters.hpp → evaluator/perception_online_evaluator/include/perception_online_evaluator/parameters.hpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_EVALUATOR__PARAMETERS_HPP_
-#define PERCEPTION_EVALUATOR__PARAMETERS_HPP_
+#ifndef PERCEPTION_ONLINE_EVALUATOR__PARAMETERS_HPP_
+#define PERCEPTION_ONLINE_EVALUATOR__PARAMETERS_HPP_
 
-#include "perception_evaluator/metrics/metric.hpp"
+#include "perception_online_evaluator/metrics/metric.hpp"
 
 #include <unordered_map>
 #include <vector>
@@ -55,4 +55,4 @@ struct Parameters
 
 }  // namespace perception_diagnostics
 
-#endif  // PERCEPTION_EVALUATOR__PARAMETERS_HPP_
+#endif  // PERCEPTION_ONLINE_EVALUATOR__PARAMETERS_HPP_

evaluator/perception_evaluator/include/perception_evaluator/perception_evaluator_node.hpp → evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp

@@ -12,12 +12,12 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_EVALUATOR__PERCEPTION_EVALUATOR_NODE_HPP_
-#define PERCEPTION_EVALUATOR__PERCEPTION_EVALUATOR_NODE_HPP_
+#ifndef PERCEPTION_ONLINE_EVALUATOR__PERCEPTION_ONLINE_EVALUATOR_NODE_HPP_
+#define PERCEPTION_ONLINE_EVALUATOR__PERCEPTION_ONLINE_EVALUATOR_NODE_HPP_
 
-#include "perception_evaluator/metrics_calculator.hpp"
-#include "perception_evaluator/parameters.hpp"
-#include "perception_evaluator/stat.hpp"
+#include "perception_online_evaluator/metrics_calculator.hpp"
+#include "perception_online_evaluator/parameters.hpp"
+#include "perception_online_evaluator/stat.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "tf2_ros/buffer.h"
 #include "tf2_ros/transform_listener.h"
@@ -46,11 +46,11 @@ using MarkerArray = visualization_msgs::msg::MarkerArray;
 /**
  * @brief Node for perception evaluation
  */
-class PerceptionEvaluatorNode : public rclcpp::Node
+class PerceptionOnlineEvaluatorNode : public rclcpp::Node
 {
 public:
-  explicit PerceptionEvaluatorNode(const rclcpp::NodeOptions & node_options);
-  ~PerceptionEvaluatorNode();
+  explicit PerceptionOnlineEvaluatorNode(const rclcpp::NodeOptions & node_options);
+  ~PerceptionOnlineEvaluatorNode();
 
   /**
    * @brief callback on receiving a dynamic objects array
@@ -92,4 +92,4 @@ class PerceptionEvaluatorNode : public rclcpp::Node
 };
 }  // namespace perception_diagnostics
 
-#endif  // PERCEPTION_EVALUATOR__PERCEPTION_EVALUATOR_NODE_HPP_
+#endif  // PERCEPTION_ONLINE_EVALUATOR__PERCEPTION_ONLINE_EVALUATOR_NODE_HPP_

evaluator/perception_evaluator/include/perception_evaluator/stat.hpp → evaluator/perception_online_evaluator/include/perception_online_evaluator/stat.hpp

@@ -15,8 +15,8 @@
 #include <iostream>
 #include <limits>
 
-#ifndef PERCEPTION_EVALUATOR__STAT_HPP_
-#define PERCEPTION_EVALUATOR__STAT_HPP_
+#ifndef PERCEPTION_ONLINE_EVALUATOR__STAT_HPP_
+#define PERCEPTION_ONLINE_EVALUATOR__STAT_HPP_
 
 namespace perception_diagnostics
 {
@@ -90,4 +90,4 @@ std::ostream & operator<<(std::ostream & os, const Stat<T> & stat)
 
 }  // namespace perception_diagnostics
 
-#endif  // PERCEPTION_EVALUATOR__STAT_HPP_
+#endif  // PERCEPTION_ONLINE_EVALUATOR__STAT_HPP_

evaluator/perception_evaluator/include/perception_evaluator/utils/marker_utils.hpp → evaluator/perception_online_evaluator/include/perception_online_evaluator/utils/marker_utils.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_EVALUATOR__UTILS__MARKER_UTILS_HPP_
-#define PERCEPTION_EVALUATOR__UTILS__MARKER_UTILS_HPP_
+#ifndef PERCEPTION_ONLINE_EVALUATOR__UTILS__MARKER_UTILS_HPP_
+#define PERCEPTION_ONLINE_EVALUATOR__UTILS__MARKER_UTILS_HPP_
 
 #include <vehicle_info_util/vehicle_info.hpp>
 
@@ -79,4 +79,4 @@ MarkerArray createDeviationLines(
 
 }  // namespace marker_utils
 
-#endif  // PERCEPTION_EVALUATOR__UTILS__MARKER_UTILS_HPP_
+#endif  // PERCEPTION_ONLINE_EVALUATOR__UTILS__MARKER_UTILS_HPP_

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

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef PERCEPTION_EVALUATOR__UTILS__OBJECTS_FILTERING_HPP_
-#define PERCEPTION_EVALUATOR__UTILS__OBJECTS_FILTERING_HPP_
+#ifndef PERCEPTION_ONLINE_EVALUATOR__UTILS__OBJECTS_FILTERING_HPP_
+#define PERCEPTION_ONLINE_EVALUATOR__UTILS__OBJECTS_FILTERING_HPP_
 
-#include "perception_evaluator/parameters.hpp"
+#include "perception_online_evaluator/parameters.hpp"
 
 #include <autoware_auto_perception_msgs/msg/object_classification.hpp>
 #include <autoware_auto_perception_msgs/msg/predicted_object.hpp>
@@ -125,4 +125,4 @@ void filterDeviationCheckObjects(
 
 }  // namespace perception_diagnostics
 
-#endif  // PERCEPTION_EVALUATOR__UTILS__OBJECTS_FILTERING_HPP_
+#endif  // PERCEPTION_ONLINE_EVALUATOR__UTILS__OBJECTS_FILTERING_HPP_

evaluator/perception_evaluator/launch/motion_evaluator.launch.xml → evaluator/perception_online_evaluator/launch/motion_evaluator.launch.xml

@@ -1,7 +1,7 @@
 <launch>
   <arg name="input/twist" default="/localization/twist"/>
 
-  <node name="motion_evaluator" exec="motion_evaluator" pkg="perception_evaluator" output="screen">
+  <node name="motion_evaluator" exec="motion_evaluator" pkg="perception_online_evaluator" output="screen">
     <remap from="~/input/twist" to="$(var input/twist)"/>
   </node>
 </launch>

evaluator/perception_online_evaluator/launch/perception_online_evaluator.launch.xml

@@ -0,0 +1,13 @@
+<launch>
+  <arg name="input/objects" default="/perception/object_recognition/objects"/>
+
+  <!-- perception evaluator -->
+  <group>
+    <node name="perception_online_evaluator" exec="perception_online_evaluator" pkg="perception_online_evaluator">
+      <param from="$(find-pkg-share perception_online_evaluator)/param/perception_online_evaluator.defaults.yaml"/>
+      <remap from="~/input/objects" to="$(var input/objects)"/>
+      <remap from="~/metrics" to="/diagnostic/perception_online_evaluator/metrics"/>
+      <remap from="~/markers" to="/diagnostic/perception_online_evaluator/markers"/>
+    </node>
+  </group>
+</launch>

evaluator/perception_evaluator/package.xml → evaluator/perception_online_evaluator/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>perception_evaluator</name>
+  <name>perception_online_evaluator</name>
   <version>0.1.0</version>
   <description>ROS 2 node for evaluating perception</description>
   <maintainer email="[email protected]">Fumiya Watanabe</maintainer>

evaluator/perception_evaluator/src/metrics/deviation_metrics.cpp → evaluator/perception_online_evaluator/src/metrics/deviation_metrics.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "perception_evaluator/metrics/deviation_metrics.hpp"
+#include "perception_online_evaluator/metrics/deviation_metrics.hpp"
 
 #include "tier4_autoware_utils/geometry/geometry.hpp"
 #include "tier4_autoware_utils/geometry/pose_deviation.hpp"

evaluator/perception_evaluator/src/metrics_calculator.cpp → evaluator/perception_online_evaluator/src/metrics_calculator.cpp

@@ -12,10 +12,10 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "perception_evaluator/metrics_calculator.hpp"
+#include "perception_online_evaluator/metrics_calculator.hpp"
 
 #include "motion_utils/trajectory/trajectory.hpp"
-#include "perception_evaluator/utils/objects_filtering.hpp"
+#include "perception_online_evaluator/utils/objects_filtering.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"
 
 #include <tier4_autoware_utils/ros/uuid_helper.hpp>

evaluator/perception_evaluator/src/perception_evaluator_node.cpp → evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp

@@ -12,9 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "perception_evaluator/perception_evaluator_node.hpp"
+#include "perception_online_evaluator/perception_online_evaluator_node.hpp"
 
-#include "perception_evaluator/utils/marker_utils.hpp"
+#include "perception_online_evaluator/utils/marker_utils.hpp"
 #include "tier4_autoware_utils/ros/marker_helper.hpp"
 #include "tier4_autoware_utils/ros/parameter.hpp"
 #include "tier4_autoware_utils/ros/update_param.hpp"
@@ -35,8 +35,8 @@
 
 namespace perception_diagnostics
 {
-PerceptionEvaluatorNode::PerceptionEvaluatorNode(const rclcpp::NodeOptions & node_options)
-: Node("perception_evaluator", node_options),
+PerceptionOnlineEvaluatorNode::PerceptionOnlineEvaluatorNode(const rclcpp::NodeOptions & node_options)
+: Node("perception_online_evaluator", node_options),
   parameters_(std::make_shared<Parameters>()),
   metrics_calculator_(parameters_)
 {
@@ -46,7 +46,7 @@ PerceptionEvaluatorNode::PerceptionEvaluatorNode(const rclcpp::NodeOptions & nod
   google::InstallFailureSignalHandler();
 
   objects_sub_ = create_subscription<PredictedObjects>(
-    "~/input/objects", 1, std::bind(&PerceptionEvaluatorNode::onObjects, this, _1));
+    "~/input/objects", 1, std::bind(&PerceptionOnlineEvaluatorNode::onObjects, this, _1));
   metrics_pub_ = create_publisher<DiagnosticArray>("~/metrics", 1);
   pub_marker_ = create_publisher<MarkerArray>("~/markers", 10);
 
@@ -57,25 +57,25 @@ PerceptionEvaluatorNode::PerceptionEvaluatorNode(const rclcpp::NodeOptions & nod
   initParameter();
 
   set_param_res_ = this->add_on_set_parameters_callback(
-    std::bind(&PerceptionEvaluatorNode::onParameter, this, std::placeholders::_1));
+    std::bind(&PerceptionOnlineEvaluatorNode::onParameter, this, std::placeholders::_1));
 
   // Timer
   initTimer(/*period_s=*/0.1);
 }
 
-PerceptionEvaluatorNode::~PerceptionEvaluatorNode()
+PerceptionOnlineEvaluatorNode::~PerceptionOnlineEvaluatorNode()
 {
 }
 
-void PerceptionEvaluatorNode::initTimer(double period_s)
+void PerceptionOnlineEvaluatorNode::initTimer(double period_s)
 {
   const auto period_ns =
     std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::duration<double>(period_s));
   timer_ = rclcpp::create_timer(
-    this, get_clock(), period_ns, std::bind(&PerceptionEvaluatorNode::onTimer, this));
+    this, get_clock(), period_ns, std::bind(&PerceptionOnlineEvaluatorNode::onTimer, this));
 }
 
-void PerceptionEvaluatorNode::onTimer()
+void PerceptionOnlineEvaluatorNode::onTimer()
 {
   DiagnosticArray metrics_msg;
   for (const Metric & metric : parameters_->metrics) {
@@ -98,7 +98,7 @@ void PerceptionEvaluatorNode::onTimer()
   publishDebugMarker();
 }
 
-DiagnosticStatus PerceptionEvaluatorNode::generateDiagnosticStatus(
+DiagnosticStatus PerceptionOnlineEvaluatorNode::generateDiagnosticStatus(
   const std::string metric, const Stat<double> & metric_stat) const
 {
   DiagnosticStatus status;
@@ -120,12 +120,12 @@ DiagnosticStatus PerceptionEvaluatorNode::generateDiagnosticStatus(
   return status;
 }
 
-void PerceptionEvaluatorNode::onObjects(const PredictedObjects::ConstSharedPtr objects_msg)
+void PerceptionOnlineEvaluatorNode::onObjects(const PredictedObjects::ConstSharedPtr objects_msg)
 {
   metrics_calculator_.setPredictedObjects(*objects_msg);
 }
 
-void PerceptionEvaluatorNode::publishDebugMarker()
+void PerceptionOnlineEvaluatorNode::publishDebugMarker()
 {
   using marker_utils::createColorFromString;
   using marker_utils::createDeviationLines;
@@ -192,7 +192,7 @@ void PerceptionEvaluatorNode::publishDebugMarker()
   pub_marker_->publish(marker);
 }
 
-rcl_interfaces::msg::SetParametersResult PerceptionEvaluatorNode::onParameter(
+rcl_interfaces::msg::SetParametersResult PerceptionOnlineEvaluatorNode::onParameter(
   const std::vector<rclcpp::Parameter> & parameters)
 {
   using tier4_autoware_utils::updateParam;
@@ -280,7 +280,7 @@ rcl_interfaces::msg::SetParametersResult PerceptionEvaluatorNode::onParameter(
   return result;
 }
 
-void PerceptionEvaluatorNode::initParameter()
+void PerceptionOnlineEvaluatorNode::initParameter()
 {
   using tier4_autoware_utils::getOrDeclareParameter;
   using tier4_autoware_utils::updateParam;
@@ -344,4 +344,4 @@ void PerceptionEvaluatorNode::initParameter()
 }  // namespace perception_diagnostics
 
 #include "rclcpp_components/register_node_macro.hpp"
-RCLCPP_COMPONENTS_REGISTER_NODE(perception_diagnostics::PerceptionEvaluatorNode)
+RCLCPP_COMPONENTS_REGISTER_NODE(perception_diagnostics::PerceptionOnlineEvaluatorNode)

evaluator/perception_evaluator/src/utils/marker_utils.cpp → evaluator/perception_online_evaluator/src/utils/marker_utils.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "perception_evaluator/utils/marker_utils.hpp"
+#include "perception_online_evaluator/utils/marker_utils.hpp"
 
 #include "tier4_autoware_utils/geometry/boost_polygon_utils.hpp"
 #include "tier4_autoware_utils/geometry/geometry.hpp"

evaluator/perception_evaluator/src/utils/objects_filtering.cpp → evaluator/perception_online_evaluator/src/utils/objects_filtering.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "perception_evaluator/utils/objects_filtering.hpp"
+#include "perception_online_evaluator/utils/objects_filtering.hpp"
 
 namespace perception_diagnostics
 {

launch/tier4_perception_launch/launch/perception.launch.xml

@@ -250,6 +250,6 @@
 
   <!-- perception evaluator -->
   <group>
-    <include file="$(find-pkg-share perception_evaluator)/launch/perception_evaluator.launch.xml"/>
+    <include file="$(find-pkg-share perception_online_evaluator)/launch/perception_online_sevaluator.launch.xml"/>
   </group>
 </launch>