Merge pull request #1993 from wkentaro/evaluate_voxel_segmentation

Evaluate box/voxel segmentation with gt. box
jsk-ros-pkg · Feb 7, 2017 · 5ee8d5b · 5ee8d5b
2 parents 9c7bd73 + 07905a4
commit 5ee8d5b
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Showing 15 changed files with 564 additions and 6 deletions.
diff --git a/jsk_pcl_ros_utils/CMakeLists.txt b/jsk_pcl_ros_utils/CMakeLists.txt
@@ -316,6 +316,8 @@ if (CATKIN_ENABLE_TESTING)
     add_rostest(test/pointcloud_to_point_indices.test)
     # because of unreleased jsk_tools/test_topic_published.py on hydro
     add_rostest(test/bounding_box_array_to_bounding_box.test)
+    add_rostest(test/evaluate_box_segmentation_by_gt_box.test)
+    add_rostest(test/evaluate_voxel_segmentation_by_gt_box.test)
     add_rostest(test/pointcloud_to_mask_image.test)
     add_rostest(test/polygon_array_unwrapper.test)
     add_rostest(test/subtract_point_indices.test)

diff --git a/jsk_pcl_ros_utils/sample/config/sample_evaluate_box_segmentation_by_gt_box.rviz b/jsk_pcl_ros_utils/sample/config/sample_evaluate_box_segmentation_by_gt_box.rviz
@@ -0,0 +1,121 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 565
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: jsk_rviz_plugin/BoundingBoxArray
+      Enabled: true
+      Name: BoundingBoxArray
+      Topic: /bounding_box_array_publisher/output
+      Unreliable: false
+      Value: true
+      alpha: 1
+      color: 25; 255; 0
+      coloring: Auto
+      line width: 0.005
+      only edge: true
+      show coords: false
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 3.11077
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 1.5598
+        Y: -0.652339
+        Z: 0.442043
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.550398
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 2.3204
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000340000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 40
+  Y: 40
diff --git a/jsk_pcl_ros_utils/sample/config/sample_evaluate_voxel_segmentation_by_gt_box.rviz b/jsk_pcl_ros_utils/sample/config/sample_evaluate_voxel_segmentation_by_gt_box.rviz
@@ -0,0 +1,129 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+      Splitter Ratio: 0.5
+    Tree Height: 565
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: false
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: false
+    - Class: rviz/MarkerArray
+      Enabled: true
+      Marker Topic: /octree_voxel_grid/output_marker_array
+      Name: MarkerArray
+      Namespaces:
+        "": true
+      Queue Size: 100
+      Value: true
+    - Class: jsk_rviz_plugin/BoundingBox
+      Enabled: true
+      Name: BoundingBox
+      Topic: /boxes_to_gt_box/output
+      Unreliable: false
+      Value: true
+      alpha: 0.8
+      color: 25; 255; 0
+      coloring: Flat color
+      line width: 0.005
+      only edge: true
+      show coords: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.13202
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.0647113
+        Y: 0.305025
+        Z: -0.28407
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 1.3548
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 4.70859
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000340000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: -10
+  Y: 14
diff --git a/jsk_pcl_ros_utils/sample/data/bunny_marker_array.bag b/jsk_pcl_ros_utils/sample/data/bunny_marker_array.bag
diff --git a/jsk_pcl_ros_utils/sample/sample_evaluate_box_segmentation_by_gt_box.launch b/jsk_pcl_ros_utils/sample/sample_evaluate_box_segmentation_by_gt_box.launch
@@ -0,0 +1,47 @@
+<launch>
+
+  <arg name="gui" default="true" />
+
+  <node name="bounding_box_array_publisher"
+        pkg="jsk_recognition_utils" type="bounding_box_array_publisher.py">
+    <rosparam>
+      rate: 10
+      frame_id: /map
+      boxes:
+        - dimension: [0.09, 0.13, 0.15]
+          orientation: [0.0, 0.0, 0.0, 1.0]
+          position: [1.3860276937484741, -0.3705306053161621, 0.5474169254302979]
+        - dimension: [0.15, 0.09, 0.13]
+          orientation: [0, 0, 0, 1]
+          position: [1.4170238971710205, -0.3371482789516449, 0.5605951547622681]
+    </rosparam>
+  </node>
+  <group if="$(arg gui)">
+    <node name="rviz"
+          pkg="rviz" type="rviz"
+          args="-d $(find jsk_pcl_ros_utils)/sample/config/sample_evaluate_box_segmentation_by_gt_box.rviz">
+    </node>
+  </group>
+
+  <node name="boxes_to_gt_box"
+        pkg="jsk_pcl_ros_utils" type="bounding_box_array_to_bounding_box">
+    <remap from="~input" to="bounding_box_array_publisher/output" />
+    <rosparam>
+      index: 0
+    </rosparam>
+  </node>
+  <node name="boxes_to_box"
+        pkg="jsk_pcl_ros_utils" type="bounding_box_array_to_bounding_box">
+    <remap from="~input" to="bounding_box_array_publisher/output" />
+    <rosparam>
+      index: 1
+    </rosparam>
+  </node>
+
+  <node name="evaluate_box_segmentation_by_gt_box"
+        pkg="jsk_pcl_ros_utils" type="evaluate_box_segmentation_by_gt_box.py">
+    <remap from="~input/box_gt" to="boxes_to_gt_box/output" />
+    <remap from="~input/box" to="boxes_to_box/output" />
+  </node>
+
+</launch>
diff --git a/jsk_pcl_ros_utils/sample/sample_evaluate_voxel_segmentation_by_gt_box.launch b/jsk_pcl_ros_utils/sample/sample_evaluate_voxel_segmentation_by_gt_box.launch
@@ -0,0 +1,44 @@
+<launch>
+
+  <arg name="gui" default="true" />
+
+  <param name="/use_sim_time" value="true" />
+  <node name="play"
+        pkg="rosbag" type="play"
+        args="$(find jsk_pcl_ros_utils)/sample/data/bunny_marker_array.bag --clock --loop">
+  </node>
+
+  <node name="bounding_box_array_publisher"
+        pkg="jsk_recognition_utils" type="bounding_box_array_publisher.py">
+    <rosparam>
+      rate: 10
+      frame_id: /map
+      boxes:
+        - dimension: [0.15, 0.14, 0.11]
+          orientation: [0.0, 0.0, 0.0, 1.0]
+          position: [-0.025551795959472656, 0.11148339509963989, 0.01671653985977173]
+    </rosparam>
+  </node>
+
+  <group if="$(arg gui)">
+    <node name="rviz"
+          pkg="rviz" type="rviz"
+          args="-d $(find jsk_pcl_ros_utils)/sample/config/sample_evaluate_voxel_segmentation_by_gt_box.rviz">
+    </node>
+  </group>
+
+  <node name="boxes_to_gt_box"
+        pkg="jsk_pcl_ros_utils" type="bounding_box_array_to_bounding_box">
+    <remap from="~input" to="bounding_box_array_publisher/output" />
+    <rosparam>
+      index: 0
+    </rosparam>
+  </node>
+
+  <node name="evaluate_voxel_segmentation_by_gt_box"
+        pkg="jsk_pcl_ros_utils" type="evaluate_voxel_segmentation_by_gt_box.py">
+    <remap from="~input/box_gt" to="boxes_to_gt_box/output" />
+    <remap from="~input/markers" to="/octree_voxel_grid/output_marker_array" />
+  </node>
+
+</launch>
diff --git a/jsk_pcl_ros_utils/scripts/evaluate_box_segmentation_by_gt_box.py b/jsk_pcl_ros_utils/scripts/evaluate_box_segmentation_by_gt_box.py
@@ -0,0 +1,43 @@
+#!/usr/bin/env python
+
+from jsk_recognition_msgs.msg import Accuracy
+from jsk_recognition_msgs.msg import BoundingBox
+import jsk_recognition_utils
+import rospy
+from jsk_topic_tools import ConnectionBasedTransport
+
+
+class EvaluateBoxSegmentationByGTBox(ConnectionBasedTransport):
+
+    def __init__(self):
+        super(EvaluateBoxSegmentationByGTBox, self).__init__()
+        self.box_gt = None
+        self.pub = self.advertise('~output', Accuracy, queue_size=1)
+        self.sub_box_gt = rospy.Subscriber(
+            '~input/box_gt', BoundingBox, self._cb_box_gt)
+
+    def subscribe(self):
+        self.sub_voxels = rospy.Subscriber(
+            '~input/box', BoundingBox, self._cb_box)
+
+    def unsubscribe(self):
+        self.sub_voxels.unregister()
+
+    def _cb_box_gt(self, box_msg):
+        self.box_gt = jsk_recognition_utils.bounding_box_msg_to_aabb(box_msg)
+
+    def _cb_box(self, box_msg):
+        if self.box_gt is None:
+            rospy.logwarn('GT. box is not set, skipping.')
+            return
+        box = jsk_recognition_utils.bounding_box_msg_to_aabb(box_msg)
+        iu = jsk_recognition_utils.get_overlap_of_aabb(self.box_gt, box)
+
+        out_msg = Accuracy(header=box_msg.header, accuracy=iu)
+        self.pub.publish(out_msg)
+
+
+if __name__ == '__main__':
+    rospy.init_node('evaluate_box_segmentation_by_gt_box')
+    EvaluateBoxSegmentationByGTBox()
+    rospy.spin()