From 6dd4714c26c0681c139dba0a9e74b8625075fb5d Mon Sep 17 00:00:00 2001 From: Hayato Mizushima Date: Wed, 24 Jul 2024 19:20:49 +0900 Subject: [PATCH 01/10] refactor: remove unused scenario update function --- log_evaluator/launch/log_evaluator.launch.py | 4 - .../annotationless_perception.py | 46 -- log_evaluator/log_evaluator/launch_config.py | 11 +- ...nnotationless_perception_evaluator_node.py | 16 - .../test_annotationless_perception.py | 61 -- sample/annotationless_perception/result.jsonl | 677 ------------------ 6 files changed, 1 insertion(+), 814 deletions(-) delete mode 100644 sample/annotationless_perception/result.jsonl diff --git a/log_evaluator/launch/log_evaluator.launch.py b/log_evaluator/launch/log_evaluator.launch.py index 44f4c337..a7f9f37c 100644 --- a/log_evaluator/launch/log_evaluator.launch.py +++ b/log_evaluator/launch/log_evaluator.launch.py @@ -128,10 +128,6 @@ def ensure_arg_compatibility(context: LaunchContext) -> list: conf[component] = use_case_launch_arg[component] launch_component[component] = conf.get(component, "true") - # annotationless - conf["annotationless_threshold_file"] = "" - conf["annotationless_pass_range"] = "" - # create output directory output_dir.mkdir(exist_ok=True, parents=True) diff --git a/log_evaluator/log_evaluator/annotationless_perception.py b/log_evaluator/log_evaluator/annotationless_perception.py index dd0e4732..4e8949cb 100644 --- a/log_evaluator/log_evaluator/annotationless_perception.py +++ b/log_evaluator/log_evaluator/annotationless_perception.py @@ -90,44 +90,10 @@ def get_default_condition(cls) -> "ClassConditionValue": }, ) - def set_threshold(self, threshold_dict: dict[str, dict]) -> None: - threshold_diag: dict[str, DiagValue] = {} - for k, v in threshold_dict.items(): - threshold_diag[k] = DiagValue(**v) - self.Threshold = threshold_diag - - def update_threshold(self, threshold_dict: dict[str, dict]) -> None: - for k, v in self.Threshold.items(): - if threshold_dict.get(k) is None: - continue - diag_value = DiagValue(**threshold_dict[k]) - if v.min is None: - diag_value.min = None - if v.max is None: - diag_value.max = None - if v.mean is None: - diag_value.mean = None - if v.metric_value is None: - diag_value.metric_value = None - self.Threshold[k] = diag_value - - def set_pass_range(self, v: dict) -> None: - if v != "": # skip if launch arg is not set - self.PassRange = ClassConditionValue.validate_pass_range(v) - class Conditions(BaseModel): ClassConditions: dict[OBJECT_CLASSIFICATION, ClassConditionValue] - def update_threshold_from_file(self, file_path: str) -> None: - # this method update condition only in scenario - final_metrics = Conditions.load_final_metrics(file_path) - if final_metrics is None: - return - for class_name in self.ClassConditions: - if final_metrics.get(class_name) is not None: - self.ClassConditions[class_name].update_threshold(final_metrics[class_name]) - @classmethod def load_final_metrics(cls, file_path: str) -> dict | None: result_file = Path(file_path) @@ -141,18 +107,6 @@ def load_final_metrics(cls, file_path: str) -> dict | None: except json.JSONDecodeError: return None - def set_pass_range(self, v: str) -> None: - if v == "": # skip if launch arg is not set - return - try: - range_dict = json.loads(v) - for class_name, range_str in range_dict.items(): - if self.ClassConditions.get(class_name) is None: - self.ClassConditions[class_name] = ClassConditionValue.get_default_condition() - self.ClassConditions[class_name].set_pass_range(range_str) - except json.JSONDecodeError: - pass - class Evaluation(BaseModel): UseCaseName: Literal["annotationless_perception"] diff --git a/log_evaluator/log_evaluator/launch_config.py b/log_evaluator/log_evaluator/launch_config.py index a91b2ef0..41ceabe6 100644 --- a/log_evaluator/log_evaluator/launch_config.py +++ b/log_evaluator/log_evaluator/launch_config.py @@ -35,16 +35,7 @@ "use_perception_online_evaluator": "true", } -ANNOTATIONLESS_PERCEPTION_NODE_PARAMS = { - "annotationless_threshold_file": LaunchConfiguration("annotationless_threshold_file"), - # annotationless_pass_range is json format string. Avoid interpreting json format strings as dict - # [ERROR] [launch]: Caught exception in launch (see debug for traceback): Allowed value types are bytes, bool, int, float, str, Sequence[bool], Sequence[int], Sequence[float], Sequence[str]. - # Got .If the parameter is meant to be a string, try wrapping it in launch_ros.parameter_descriptions.ParameterValue(value, value_type=str) - "annotationless_pass_range": ParameterValue( - LaunchConfiguration("annotationless_pass_range"), - value_type=str, - ), -} +ANNOTATIONLESS_PERCEPTION_NODE_PARAMS = {} AR_TAG_BASED_LOCALIZER_RECORD_TOPIC = """^/tf$\ |^/diagnostics$"\ diff --git a/log_evaluator/scripts/annotationless_perception_evaluator_node.py b/log_evaluator/scripts/annotationless_perception_evaluator_node.py index 81adb756..173c85a2 100755 --- a/log_evaluator/scripts/annotationless_perception_evaluator_node.py +++ b/log_evaluator/scripts/annotationless_perception_evaluator_node.py @@ -15,8 +15,6 @@ # limitations under the License. -from os.path import expandvars - from diagnostic_msgs.msg import DiagnosticArray from log_evaluator.annotationless_perception import AnnotationlessPerceptionResult @@ -30,20 +28,6 @@ def __init__(self, name: str) -> None: super().__init__(name, AnnotationlessPerceptionScenario, AnnotationlessPerceptionResult) self._scenario: AnnotationlessPerceptionScenario self._result: AnnotationlessPerceptionResult - # update condition using launch argument - self.declare_parameter("annotationless_threshold_file", "") - self._scenario.Evaluation.Conditions.update_threshold_from_file( - expandvars( - self.get_parameter("annotationless_threshold_file") - .get_parameter_value() - .string_value, - ), - ) - self.declare_parameter("annotationless_pass_range", "") - self._scenario.Evaluation.Conditions.set_pass_range( - self.get_parameter("annotationless_pass_range").get_parameter_value().string_value, - ) - self._result_writer.write_condition(self._scenario.Evaluation.Conditions, updated=True) self.__sub_diagnostics = self.create_subscription( DiagnosticArray, diff --git a/log_evaluator/test/unittest/test_annotationless_perception.py b/log_evaluator/test/unittest/test_annotationless_perception.py index d324e8ed..dced9062 100644 --- a/log_evaluator/test/unittest/test_annotationless_perception.py +++ b/log_evaluator/test/unittest/test_annotationless_perception.py @@ -70,67 +70,6 @@ def test_range_validation_lower_limit() -> None: ) -def test_path_with_empty_str() -> None: - f = Path("") # noqa - assert f.exists() - - -def test_set_threshold() -> None: - class_cond = ClassConditionValue.get_default_condition() - input_threshold = { - "lateral_deviation": { - "min": 0.0007570793650793651, - "max": 0.01905171904761904, - "mean": 0.006783434920634924, - }, - } - - class_cond.set_threshold(input_threshold) - assert class_cond.Threshold["lateral_deviation"] == DiagValue( - min=0.0007570793650793651, - max=0.01905171904761904, - mean=0.006783434920634924, - ) - - -def test_update_threshold_from_file() -> None: - scenario: AnnotationlessPerceptionScenario = load_sample_scenario( - "annotationless_perception", - AnnotationlessPerceptionScenario, - ) - scenario.Evaluation.Conditions.update_threshold_from_file( - get_sample_result_path("annotationless_perception", "result.jsonl").as_posix(), - ) - # update_threshold_from_file update only keys written in scenario.yaml - bus_threshold = scenario.Evaluation.Conditions.ClassConditions["BUS"].Threshold - assert bus_threshold == { - "yaw_rate": DiagValue(max=0.077258), - } - - -def test_set_pass_range() -> None: - class_cond = ClassConditionValue.get_default_condition() - class_cond.set_pass_range({"min": "0.0-1.1", "max": "0.0-1.2", "mean": "0.4-1.3"}) - assert class_cond.PassRange == {"min": (0.0, 1.1), "max": (0.0, 1.2), "mean": (0.4, 1.3)} - - -def test_set_pass_range_from_launch_arg() -> None: - scenario: AnnotationlessPerceptionScenario = load_sample_scenario( - "annotationless_perception", - AnnotationlessPerceptionScenario, - ) - scenario.Evaluation.Conditions.set_pass_range( - '{"CAR":{"min":"0.3-1.2","max":"0.3-1.2","mean":"0.3-1.2"},"BUS":{"max":"0.2-1.3"}}', - ) - cond = scenario.Evaluation.Conditions - assert cond.ClassConditions["CAR"].PassRange == { - "min": (0.3, 1.2), - "max": (0.3, 1.2), - "mean": (0.3, 1.2), - } - assert cond.ClassConditions["BUS"].PassRange == {"max": (0.2, 1.3)} - - @pytest.fixture() def create_obj_metrics() -> ObjectMetrics: condition = ClassConditionValue( diff --git a/sample/annotationless_perception/result.jsonl b/sample/annotationless_perception/result.jsonl deleted file mode 100644 index bed87417..00000000 --- a/sample/annotationless_perception/result.jsonl +++ /dev/null @@ -1,677 +0,0 @@ -{"Condition": {"ClassConditions": {"CAR": {"Threshold": {"lateral_deviation": {"min": null, "max": 0.1912, "mean": 0.019, "metric_value": null}, "yaw_deviation": {"min": null, "max": 3.1411, "mean": 0.05, "metric_value": null}, "predicted_path_deviation_5.00": {"min": null, "max": 16.464, "mean": 1.8, "metric_value": null}, "total_objects_count_r60.00_h10.00": {"min": null, "max": null, "mean": null, "metric_value": 10.0}}, "PassRange": {"min": [0.0, 2.0], "max": [0.0, 2.0], "mean": [0.5, 2.0], "metric_value": [0.9, 1.1]}}, "BUS": {"Threshold": {"total_objects_count_r50.00_h10.00": {"min": null, "max": 0.9, "mean": null, "metric_value": null}}, "PassRange": {"min": [0.0, 2.0], "max": [0.0, 2.0], "mean": [0.5, 2.0], "metric_value": [0.9, 1.1]}}}}} -{"Result": {"Success": false, "Summary": "NoData"}, "Stamp": {"System": 1717470519.2048745}, "Frame": {}} -{"UpdatedCondition": {"ClassConditions": {"CAR": {"Threshold": {"lateral_deviation": {"min": null, "max": 0.1912, "mean": 0.019, "metric_value": null}, "yaw_deviation": {"min": null, "max": 3.1411, "mean": 0.05, "metric_value": null}, "predicted_path_deviation_5.00": {"min": null, "max": 16.464, "mean": 1.8, "metric_value": null}, "total_objects_count_r60.00_h10.00": {"min": null, "max": null, "mean": null, "metric_value": 10.0}}, "PassRange": {"min": [0.0, 2.0], "max": [0.0, 2.0], "mean": [0.5, 2.0], "metric_value": [0.9, 1.1]}}, "BUS": {"Threshold": {"total_objects_count_r50.00_h10.00": {"min": null, "max": 0.9, "mean": null, "metric_value": null}}, "PassRange": {"min": [0.0, 2.0], "max": [0.0, 2.0], "mean": [0.5, 2.0], "metric_value": [0.9, 1.1]}}}}} -{"Result": {"Success": false, "Summary": "Failed:\nCAR (Fail):\n\t\nBUS (Success)\nPEDESTRIAN (Success)\nBICYCLE (Success)\nMOTORCYCLE (Success)\nTRAILER (Success)\nUNKNOWN (Success)\nTRUCK (Success)"}, "Stamp": {"System": 1717470528.949195, "ROS": 1649138851.6945474}, "Frame": {"PEDESTRIAN": {"Result": {"Total": "Success", "Frame": "Success"}, "Info": {"total_objects_count_r160.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r180.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r120.00_h10.00": {"metric_value": 0.0}, 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"total_objects_count_r160.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r140.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r180.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r100.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r60.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r20.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r120.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r40.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r80.00_h10.00": {"metric_value": 0.0}}, "Metrics": {}}, "TRUCK": {"Result": {"Total": "Success", "Frame": "Success"}, "Info": {"total_objects_count_r40.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r100.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r80.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r120.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r160.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r20.00_h10.00": {"metric_value": 0.0}, 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"total_objects_count_r80.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r140.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r160.00_h10.00": {"metric_value": 0.0}}, "Metrics": {}}, "MOTORCYCLE": {"Result": {"Total": "Success", "Frame": "Success"}, "Info": {"total_objects_count_r200.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r140.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r180.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r120.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r40.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r20.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r100.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r160.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r80.00_h10.00": {"metric_value": 0.0}, "total_objects_count_r60.00_h10.00": {"metric_value": 0.0}}, "Metrics": {}}, "TRAILER": {"Result": {"Total": "Success", "Frame": "Success"}, "Info": 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"mean": 0.06732279395604397}, "predicted_path_deviation_variance_5.00": {"min": 0.0, "max": 26.090982, "mean": 3.025168406593404}, "predicted_path_deviation_variance_3.00": {"min": 0.0, "max": 8.118379, "mean": 0.9103636813186812}, "predicted_path_deviation_3.00": {"min": 0.0, "max": 3.980566, "mean": 0.984247961538461}, "predicted_path_deviation_5.00": {"min": 0.0, "max": 7.25406, "mean": 1.8397500027472518}, "predicted_path_deviation_2.00": {"min": 0.0, "max": 2.510907, "mean": 0.607273}, "predicted_path_deviation_variance_2.00": {"min": 0.0, "max": 3.608311, "mean": 0.367462423076923}, "predicted_path_deviation_variance_1.00": {"min": 0.0, "max": 1.044086, "mean": 0.0937575054945055}, "predicted_path_deviation_1.00": {"min": 0.0, "max": 1.155485, "mean": 0.2809747912087912}, "yaw_rate": {"min": 0.0, "max": 1.336136, "mean": 0.017187464169381116}}, "BUS": {"yaw_rate": {"min": 0.0, "max": 0.077258, "mean": 0.002189731239092495}}, "PEDESTRIAN": {}, "BICYCLE": {}, "MOTORCYCLE": {}, "TRAILER": {}, "UNKNOWN": {"yaw_rate": {"min": 0.0, "max": 0.035609, "mean": 0.0009973071786310518}}, "TRUCK": {}}}} From 7c5c64e71a526c7162db123c49c1a1a190749590 Mon Sep 17 00:00:00 2001 From: Hayato Mizushima Date: Thu, 25 Jul 2024 11:15:46 +0900 Subject: [PATCH 02/10] docs: remove unused function --- docs/use_case/annotationless_perception.en.md | 111 ------------------ docs/use_case/annotationless_perception.ja.md | 111 ------------------ 2 files changed, 222 deletions(-) diff --git a/docs/use_case/annotationless_perception.en.md b/docs/use_case/annotationless_perception.en.md index 1f34bdb0..3c740e3e 100644 --- a/docs/use_case/annotationless_perception.en.md +++ b/docs/use_case/annotationless_perception.en.md @@ -75,117 +75,6 @@ Published topics: | ---------- | --------- | | N/A | N/A | -### Method of specifying conditions - -The conditions can be given in two ways - -#### Describe in scenario - -```yaml -Evaluation: - UseCaseName: annotationless_perception - UseCaseFormatVersion: 0.3.0 - Conditions: - ClassConditions: - # Describe the conditions for each class. If a class with no conditions is output, only the metrics are calculated. It does not affect the evaluation. - # In the sample data, the class of TRUCK is also output, but the condition is not described, so TRUCK is always Success. - # When specifying conditions from result.jsonl, only keys described here will be updated. - # Even though TRUCK metrics appear in result.jsonl, they are not added to the evaluation condition because the TRUCK key is not specified in this example. - CAR: # classification key - Threshold: - # Keys not described will not be evaluated (will always be a success) - lateral_deviation: { max: 0.4, mean: 0.019 } - yaw_deviation: { max: 3.1411, mean: 0.05 } - predicted_path_deviation_5.00: { max: 16.464, mean: 1.8 } - total_objects_count_r60.00_h10.00: { metric_value: 10 } - PassRange: - min: 0.0-2.0 # lower[<=1.0]-upper[>=1.0] - max: 0.0-2.0 # lower[<=1.0]-upper[>=1.0] - mean: 0.5-2.0 # lower[<=1.0]-upper[>=1.0] - metric_value: 0.9-1.1 - BUS: # classification key - Threshold: - # Only lateral_deviation is evaluated. - yaw_rate: { max: 0.05 } # Only max is evaluated. - PassRange: - min: 0.0-2.0 # lower[<=1.0]-upper[>=1.0] - max: 0.0-2.0 # lower[<=1.0]-upper[>=1.0] - mean: 0.5-2.0 # lower[<=1.0]-upper[>=1.0] - metric_value: 0.9-1.1 -``` - -#### Specify by launch argument - -This method is assumed to be used mainly. - -If the file path of result.jsonl output from past tests is specified, the metrics values from past tests are used as threshold values. -The values are updated from result.jsonl only for the thresholds listed in the scenario. - -The passing range can also be specified as an argument. - -An image of its use is shown below. - -![threshold](./images/annotationless_threshold.drawio.svg) - -##### driving-log-replayer-cli - -```shell -dlr simulation run -p annotationless_perception -l annotationless_threshold_file:=${previous_test_result.jsonl_path} -l 'annotationless_pass_range:={"KEY1":VALUE1"[,"KEY2":"VALUE2"...]}' - -# example -dlr simulation run -p annotationless_perception -l annotationless_threshold_file:=$HOME/out/annotationless/2024-0314-155106/sample/result.jsonl -l 'annotationless_pass_range:={"CAR":{"min":"0.0-1.1","max":"0.0-1.2","mean":"0.5-1.3"},"BUS":{"min":"0.0-1.1","max":"0.0-1.2","mean":"0.5-1.3"}}' -``` - -##### WebAutoCLI - -```shell -webauto ci scenario run --project-id ${project-id} --scenario-id ${scenario-id} --scenario-version-id ${scenario-version-id} --simulator-parameter-overrides 'annotationless_threshold_file=${previous_test_result.jsonl_path},annotationless_pass_range:={"KEY1":VALUE1"[,"KEY2":"VALUE2"...]}' -``` - -##### Autoware Evaluator - -Add to parameters in the simulator configuration in `.webauto-ci.yml`. - -```yaml -simulations: - - name: annotationless_perception - type: annotationless_perception - simulator: - deployment: - type: container - artifact: main - runtime: - type: simulator/standard1/amd64/medium - parameters: - annotationless_threshold_file: ${previous_test_result.jsonl_path} - annotationless_pass_range: - KEY1: VALUE1 - KEY2: VALUE2 -``` - -#### How to update scenario conditions - -The driving-log-replayer-cli has the ability to run multiple scenarios in succession that exist under the data_directory of a profile. -On the other hand, when evaluation conditions are given as arguments, the same arguments are applied to multiple scenarios, which is inconvenient. - -In the case of local testing using driving-log-replayer-cli, instead of specifying arguments, the following commands are provided so that scenario conditions can be updated as needed. - -- update-condition command to manually update scenario conditions -- run's -u option to automatically update scenario conditions after a simulation run - -There are two ways to update - -- existing Update only those items that appear in the scenario -- all Update all values in the metrics - -```shell -# manual update -dlr simulation update-condition -s ${scenario_path} -r ${result.jsonl_path} -u ${existing|all} - -# automatically update scenario after simulation run -dlr simulation run -p annotationless_perception -u ${existing|all} -``` - ## Arguments passed to logging_simulator.launch - localization: false diff --git a/docs/use_case/annotationless_perception.ja.md b/docs/use_case/annotationless_perception.ja.md index 327f2525..975c9173 100644 --- a/docs/use_case/annotationless_perception.ja.md +++ b/docs/use_case/annotationless_perception.ja.md @@ -75,117 +75,6 @@ Published topics: | ---------- | --------- | | N/A | N/A | -### 条件を指定する方法 - -条件は以下の2通りの方法で与えることができる - -#### シナリオに記述する - -```yaml -Evaluation: - UseCaseName: annotationless_perception - UseCaseFormatVersion: 0.3.0 - Conditions: - ClassConditions: - # クラス毎の条件を記述する。条件を設定がないクラスが出力された場合はメトリクスだけ計算される。評価には影響しない - # サンプルデータではTRUCKのclassも出力されるが条件を記述してないので、TRUCKは必ずSuccessになる - # result.jsonlから条件指定を行う場合、ここに記述があるキーのみ更新される。 - # result.jsonlにTRUCKのメトリクスが出ていても、この例ではTRUCKのキーを指定していないので評価条件には追加されない。 - CAR: # classification key - Threshold: - # 記述のないキーについては評価されない（必ず成功になる） - lateral_deviation: { max: 0.4, mean: 0.019 } - yaw_deviation: { max: 3.1411, mean: 0.05 } - predicted_path_deviation_5.00: { max: 16.464, mean: 1.8 } - total_objects_count_r60.00_h10.00: { metric_value: 10 } - PassRange: - min: 0.0-2.0 # lower[<=1.0]-upper[>=1.0] - max: 0.0-2.0 # lower[<=1.0]-upper[>=1.0] - mean: 0.5-2.0 # lower[<=1.0]-upper[>=1.0] - metric_value: 0.9-1.1 - BUS: # classification key - Threshold: - # Only lateral_deviation is evaluated. - yaw_rate: { max: 0.05 } # Only max is evaluated. - PassRange: - min: 0.0-2.0 # lower[<=1.0]-upper[>=1.0] - max: 0.0-2.0 # lower[<=1.0]-upper[>=1.0] - mean: 0.5-2.0 # lower[<=1.0]-upper[>=1.0] - metric_value: 0.9-1.1 -``` - -#### launch引数で指定する - -こちらの方法をメインに使う想定。 - -過去のテストで出力されたresult.jsonlのファイルパスを指定すると、過去のテストのメトリクス値を閾値として利用する。 -シナリオに記載のある閾値だけresult.jsonlから値が更新される。 - -また合格範囲も引数で指定可能。 - -利用イメージを以下に示す。 - -![threshold](./images/annotationless_threshold.drawio.svg) - -##### driving-log-replayer-cli - -```shell -dlr simulation run -p annotationless_perception -l annotationless_threshold_file:=${previous_test_result.jsonl_path} -l 'annotationless_pass_range:={"KEY1":VALUE1"[,"KEY2":"VALUE2"...]}' - -# example -dlr simulation run -p annotationless_perception -l annotationless_threshold_file:=$HOME/out/annotationless/2024-0314-155106/sample/result.jsonl -l 'annotationless_pass_range:={"CAR":{"min":"0.0-1.1","max":"0.0-1.2","mean":"0.5-1.3"},"BUS":{"min":"0.0-1.1","max":"0.0-1.2","mean":"0.5-1.3"}}' -``` - -##### WebAutoCLI - -```shell -webauto ci scenario run --project-id ${project-id} --scenario-id ${scenario-id} --scenario-version-id ${scenario-version-id} --simulator-parameter-overrides 'annotationless_threshold_file=${previous_test_result.jsonl_path},annotationless_pass_range:={"KEY1":VALUE1"[,"KEY2":"VALUE2"...]}' -``` - -##### Autoware Evaluator - -.webauto-ci.ymlのsimulatorの設定でparametersに追加する。 - -```yaml -simulations: - - name: annotationless_perception - type: annotationless_perception - simulator: - deployment: - type: container - artifact: main - runtime: - type: simulator/standard1/amd64/medium - parameters: - annotationless_threshold_file: ${previous_test_result.jsonl_path} - annotationless_pass_range: - KEY1: VALUE1 - KEY2: VALUE2 -``` - -#### シナリオの条件を更新する方法 - -driving-log-replayer-cliではプロファイルのdata_directory配下に存在する複数のシナリオを連続で実行する機能を備えている。 -一方で、評価条件を引数で与える場合、複数のシナリオに対して同じ引数が適用されてしまい不都合がある。 - -driving-log-replayer-cliを用いたローカルテストの場合は、引数指定ではなく、シナリオの条件を随時更新して利用できるように、以下のようなコマンドが用意されている。 - -- 手動でシナリオの条件を更新するupdate-conditionコマンド -- シミュレーション実行後に自動でシナリオの条件を更新するrunの-uのオプション - -更新方法は以下の2通りがある - -- existing シナリオに記述のある項目のみ更新 -- all メトリクスに出ている値で全て更新 - -```shell -# manual update -dlr simulation update-condition -s ${scenario_path} -r ${result.jsonl_path} -u ${existing|all} - -# automatically update scenario after simulation run -dlr simulation run -p annotationless_perception -u ${existing|all} -``` - ## logging_simulator.launch に渡す引数 - localization: false From 25cf554c6a93f04b3bb0178531d008f38b6451c3 Mon Sep 17 00:00:00 2001 From: Hayato Mizushima Date: Thu, 25 Jul 2024 12:31:48 +0900 Subject: [PATCH 03/10] chore: delete unused function --- .../log_evaluator/annotationless_perception.py | 15 --------------- log_evaluator/log_evaluator/launch_config.py | 1 - .../unittest/test_annotationless_perception.py | 2 -- 3 files changed, 18 deletions(-) diff --git a/log_evaluator/log_evaluator/annotationless_perception.py b/log_evaluator/log_evaluator/annotationless_perception.py index 4e8949cb..9cd7f563 100644 --- a/log_evaluator/log_evaluator/annotationless_perception.py +++ b/log_evaluator/log_evaluator/annotationless_perception.py @@ -14,7 +14,6 @@ from dataclasses import dataclass from dataclasses import field -from pathlib import Path import sys from typing import Literal @@ -22,7 +21,6 @@ from diagnostic_msgs.msg import DiagnosticStatus from pydantic import BaseModel from pydantic import field_validator -import simplejson as json from log_evaluator.result import EvaluationItem from log_evaluator.result import ResultBase @@ -94,19 +92,6 @@ def get_default_condition(cls) -> "ClassConditionValue": class Conditions(BaseModel): ClassConditions: dict[OBJECT_CLASSIFICATION, ClassConditionValue] - @classmethod - def load_final_metrics(cls, file_path: str) -> dict | None: - result_file = Path(file_path) - if file_path == "" or not result_file.exists(): # Path("") is current path - return None - with result_file.open() as f: - last_line = f.readlines()[-1] - try: - result_json_dict = json.loads(last_line) - return result_json_dict["Frame"]["FinalMetrics"] - except json.JSONDecodeError: - return None - class Evaluation(BaseModel): UseCaseName: Literal["annotationless_perception"] diff --git a/log_evaluator/log_evaluator/launch_config.py b/log_evaluator/log_evaluator/launch_config.py index 41ceabe6..0b93b991 100644 --- a/log_evaluator/log_evaluator/launch_config.py +++ b/log_evaluator/log_evaluator/launch_config.py @@ -13,7 +13,6 @@ # limitations under the License. from launch.substitutions import LaunchConfiguration -from launch_ros.descriptions import ParameterValue ANNOTATIONLESS_PERCEPTION_RECORD_TOPIC = """^/tf$\ |^/sensing/lidar/concatenated/pointcloud$\ diff --git a/log_evaluator/test/unittest/test_annotationless_perception.py b/log_evaluator/test/unittest/test_annotationless_perception.py index dced9062..e0673df4 100644 --- a/log_evaluator/test/unittest/test_annotationless_perception.py +++ b/log_evaluator/test/unittest/test_annotationless_perception.py @@ -13,7 +13,6 @@ # limitations under the License. from collections.abc import Callable -from pathlib import Path from typing import Literal from pydantic import ValidationError @@ -23,7 +22,6 @@ from log_evaluator.annotationless_perception import ClassConditionValue from log_evaluator.annotationless_perception import DiagValue from log_evaluator.annotationless_perception import ObjectMetrics -from log_evaluator.result import get_sample_result_path from log_evaluator.scenario import load_sample_scenario From 625c5cbed3b80324ab984c81aafe4868e711c952 Mon Sep 17 00:00:00 2001 From: Hayato Mizushima Date: Thu, 25 Jul 2024 13:52:51 +0900 Subject: [PATCH 04/10] feat: update scenario format --- .../annotationless_perception.py | 96 +++++-------------- .../annotationless_perception/scenario.yaml | 25 +---- 2 files changed, 29 insertions(+), 92 deletions(-) diff --git a/log_evaluator/log_evaluator/annotationless_perception.py b/log_evaluator/log_evaluator/annotationless_perception.py index 9cd7f563..f4b894b0 100644 --- a/log_evaluator/log_evaluator/annotationless_perception.py +++ b/log_evaluator/log_evaluator/annotationless_perception.py @@ -20,7 +20,6 @@ from diagnostic_msgs.msg import DiagnosticArray from diagnostic_msgs.msg import DiagnosticStatus from pydantic import BaseModel -from pydantic import field_validator from log_evaluator.result import EvaluationItem from log_evaluator.result import ResultBase @@ -43,59 +42,25 @@ METRICS_KEY = Literal[METRICS_KEY_TUPLE] -class DiagValue(BaseModel): - min: float | None = None - max: float | None = None - mean: float | None = None - metric_value: float | None = None - - -class ClassConditionValue(BaseModel): - Threshold: dict[str, DiagValue] - PassRange: dict[METRICS_KEY, tuple[float, float]] +class LowerUpper(BaseModel): + lower: float + upper: float - @field_validator("PassRange", mode="before") - @classmethod - def validate_pass_range(cls, range_dict: dict) -> dict[METRICS_KEY, tuple[float, float]]: - rtn_dict = {} - for k, v in range_dict.items(): - if k not in METRICS_KEY_TUPLE: - key_error = "pass_range key must be 'min', 'max', 'mean', and 'metric_value'" - raise ValueError(key_error) - boundary = 1.0 - s_lower, s_upper = v.split("-") - lower = float(s_lower) - upper = float(s_upper) - - if lower > boundary: - lower_error = f"lower value must be <= {boundary}" - raise ValueError(lower_error) - if upper < boundary: - upper_error = f"upper value must be >= {boundary}" - raise ValueError(upper_error) - rtn_dict[k] = (lower, upper) - return rtn_dict - @classmethod - def get_default_condition(cls) -> "ClassConditionValue": - return ClassConditionValue( - Threshold={}, - PassRange={ - "min": "0.0-1.0", - "max": "0.0-1.0", - "mean": "0.5-1.0", - "metric_value": "0.9-1.1", - }, - ) +class DiagValue(BaseModel): + min: LowerUpper | None = None + max: LowerUpper | None = None + mean: LowerUpper | None = None + metric_value: LowerUpper | None = None class Conditions(BaseModel): - ClassConditions: dict[OBJECT_CLASSIFICATION, ClassConditionValue] + ClassConditions: dict[OBJECT_CLASSIFICATION, dict[str, DiagValue]] class Evaluation(BaseModel): UseCaseName: Literal["annotationless_perception"] - UseCaseFormatVersion: Literal["1.0.0"] + UseCaseFormatVersion: Literal["2.0.0"] Conditions: Conditions Datasets: list[dict] @@ -112,7 +77,7 @@ class ObjectMetrics(EvaluationItem): fail_details: dict = field(default_factory=dict) def set_frame(self, msg: dict[str, dict]) -> dict: - self.condition: ClassConditionValue + self.condition: dict[str, DiagValue] frame_success = True info_dict = {} frame_fail_items = "" @@ -143,16 +108,15 @@ def calc_metrics_and_success( # noqa key: str, values: dict, ) -> tuple[dict, bool]: - threshold_key: DiagValue | None = self.condition.Threshold.get(key) - pass_range = self.condition.PassRange + threshold_key: DiagValue | None = self.condition.get(key) # metric_value type if "metric_value" in values: if threshold_key is None or threshold_key.metric_value is None: return {}, True metric_value_success = ( - threshold_key.metric_value * pass_range["metric_value"][0] + threshold_key.metric_value.lower <= values["metric_value"] - <= threshold_key.metric_value * pass_range["metric_value"][1] + <= threshold_key.metric_value.upper ) return {}, metric_value_success @@ -182,38 +146,26 @@ def calc_metrics_and_success( # noqa is_success_mean = True # if threshold mean is not set if threshold_key.min is not None: # Once min_success is false, it is not calculated thereafter. - is_success_min = ( - threshold_key.min * pass_range["min"][0] - <= rdk["min"] - <= threshold_key.min * pass_range["min"][1] - ) + is_success_min = threshold_key.min.lower <= rdk["min"] <= threshold_key.min.upper if threshold_key.max is not None: # Once max_success is false, it is not calculated thereafter. - is_success_max = ( - threshold_key.max * pass_range["max"][0] - <= rdk["max"] - <= threshold_key.max * pass_range["max"][1] - ) + is_success_max = threshold_key.max.lower <= rdk["max"] <= threshold_key.max.upper if threshold_key.mean is not None: - is_success_mean = ( - threshold_key.mean * pass_range["mean"][0] - <= a_mean - <= threshold_key.mean * pass_range["mean"][1] - ) + is_success_mean = threshold_key.mean.lower <= a_mean <= threshold_key.mean.upper is_success = is_success_min and is_success_max and is_success_mean # Store the measured value and threshold value for if not is_success_min: self.fail_details[key + "_min"] = ( rdk["min"], - threshold_key.min * pass_range["min"][0], - threshold_key.min * pass_range["min"][1], + threshold_key.min.lower, + threshold_key.min.upper, ) if not is_success_max: self.fail_details[key + "_max"] = ( rdk["max"], - threshold_key.max * pass_range["max"][0], - threshold_key.max * pass_range["max"][1], + threshold_key.max.lower, + threshold_key.max.upper, ) if is_success_mean: # If mean is successful, remove it from fail_details if it exists @@ -221,8 +173,8 @@ def calc_metrics_and_success( # noqa else: self.fail_details[key + "_mean"] = ( a_mean, - threshold_key.mean * pass_range["mean"][0], - threshold_key.mean * pass_range["mean"][1], + threshold_key.mean.lower, + threshold_key.mean.upper, ) return {"min": rdk["min"], "max": rdk["max"], "mean": a_mean}, is_success @@ -252,7 +204,7 @@ def set_frame(self, msg: DiagnosticArray) -> dict: # Add default ObjectMetricsClass for metrics aggregation self.__container[class_name] = ObjectMetrics( name=class_name, - condition=ClassConditionValue.get_default_condition(), + condition=DiagValue(), ) frame_result[class_name] = self.__container[class_name].set_frame( diag_array_class[class_name], diff --git a/sample/annotationless_perception/scenario.yaml b/sample/annotationless_perception/scenario.yaml index 9ece0b9a..ae33f731 100644 --- a/sample/annotationless_perception/scenario.yaml +++ b/sample/annotationless_perception/scenario.yaml @@ -5,7 +5,7 @@ SensorModel: sample_sensor_kit VehicleModel: sample_vehicle Evaluation: UseCaseName: annotationless_perception - UseCaseFormatVersion: 1.0.0 + UseCaseFormatVersion: 2.0.0 Conditions: ClassConditions: # Describe the conditions for each class. If a class with no conditions is output, only the metrics are calculated. It does not affect the evaluation. @@ -13,26 +13,11 @@ Evaluation: # When specifying conditions from result.jsonl, only keys described here will be updated. # Even though TRUCK metrics appear in result.jsonl, they are not added to the evaluation condition because the TRUCK key is not specified in this example. CAR: # classification key - Threshold: - # Keys not described will not be evaluated (will always be a success) - lateral_deviation: { max: 0.4, mean: 0.019 } - yaw_deviation: { max: 3.1411, mean: 0.05 } - predicted_path_deviation_5.00: { max: 16.464, mean: 1.8 } - total_objects_count_r60.00_h10.00: { metric_value: 10 } - PassRange: - min: 0.0-2.0 # lower[<=1.0]-upper[>=1.0] - max: 0.0-2.0 # lower[<=1.0]-upper[>=1.0] - mean: 0.5-2.0 # lower[<=1.0]-upper[>=1.0] - metric_value: 0.9-1.1 + lateral_deviation: { max: { lower: 0.0, upper: 0.6 }, mean: { lower: 0.01, upper: 0.03 } } + predicted_path_deviation_5.00: { max: { lower: 0.0, upper: 16.48 }, mean: { lower: 1.7, upper: 1.9 } } + total_objects_count_r60.00_h10.00: { metric_value: { lower: 10.0, upper: 11.0 } } BUS: # classification key - Threshold: - # Only lateral_deviation is evaluated. - yaw_rate: { max: 0.05 } # Only max is evaluated. - PassRange: - min: 0.0-2.0 # lower[<=1.0]-upper[>=1.0] - max: 0.0-2.0 # lower[<=1.0]-upper[>=1.0] - mean: 0.5-2.0 # lower[<=1.0]-upper[>=1.0] - metric_value: 0.9-1.1 + yaw_rate: { max: { lower: 0.04, upper: 0.06 } } # Only max is evaluated. Datasets: - sample_dataset: VehicleId: default From d5a0aa6ac545b8255bc02131115468b2984979df Mon Sep 17 00:00:00 2001 From: Hayato Mizushima Date: Thu, 25 Jul 2024 18:01:32 +0900 Subject: [PATCH 05/10] fix: set default condition --- log_evaluator/log_evaluator/annotationless_perception.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/log_evaluator/log_evaluator/annotationless_perception.py b/log_evaluator/log_evaluator/annotationless_perception.py index f4b894b0..847059dc 100644 --- a/log_evaluator/log_evaluator/annotationless_perception.py +++ b/log_evaluator/log_evaluator/annotationless_perception.py @@ -93,7 +93,7 @@ def set_frame(self, msg: dict[str, dict]) -> dict: frame_fail_items += f", {status_name}" frame_success = frame_success and diag_success self.success = frame_success - if self.condition.Threshold == {}: # not evaluation target + if self.condition == {}: # not evaluation target self.summary = f"{self.name} (NotTested)" else: self.summary = f"{self.name} ({self.success_str()}{frame_fail_items})" @@ -204,7 +204,7 @@ def set_frame(self, msg: DiagnosticArray) -> dict: # Add default ObjectMetricsClass for metrics aggregation self.__container[class_name] = ObjectMetrics( name=class_name, - condition=DiagValue(), + condition={}, ) frame_result[class_name] = self.__container[class_name].set_frame( diag_array_class[class_name], From 04c716056cd90302a8d1577f4e9d5a52a25b9d31 Mon Sep 17 00:00:00 2001 From: Hayato Mizushima Date: Thu, 25 Jul 2024 18:42:12 +0900 Subject: [PATCH 06/10] chore: update sample scenario --- sample/annotationless_perception/scenario.yaml | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/sample/annotationless_perception/scenario.yaml b/sample/annotationless_perception/scenario.yaml index ae33f731..8a11f992 100644 --- a/sample/annotationless_perception/scenario.yaml +++ b/sample/annotationless_perception/scenario.yaml @@ -13,11 +13,12 @@ Evaluation: # When specifying conditions from result.jsonl, only keys described here will be updated. # Even though TRUCK metrics appear in result.jsonl, they are not added to the evaluation condition because the TRUCK key is not specified in this example. CAR: # classification key - lateral_deviation: { max: { lower: 0.0, upper: 0.6 }, mean: { lower: 0.01, upper: 0.03 } } - predicted_path_deviation_5.00: { max: { lower: 0.0, upper: 16.48 }, mean: { lower: 1.7, upper: 1.9 } } - total_objects_count_r60.00_h10.00: { metric_value: { lower: 10.0, upper: 11.0 } } + lateral_deviation: { mean: { lower: 0.01, upper: 0.03 } } + yaw_deviation: { mean: { lower: 0.05, upper: 0.09 } } + predicted_path_deviation_5.00: { mean: { lower: 1.5, upper: 3.0 } } + yaw_rate: { mean: { lower: 0.01, upper: 0.03 } } BUS: # classification key - yaw_rate: { max: { lower: 0.04, upper: 0.06 } } # Only max is evaluated. + yaw_rate: { mean: { lower: 0, upper: 0.01 } } Datasets: - sample_dataset: VehicleId: default From 46e93bbfcc5414a6e948dd83520765ce6c0a8e22 Mon Sep 17 00:00:00 2001 From: Hayato Mizushima Date: Thu, 25 Jul 2024 18:46:17 +0900 Subject: [PATCH 07/10] fix: pre-commit --- sample/annotationless_perception/scenario.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/sample/annotationless_perception/scenario.yaml b/sample/annotationless_perception/scenario.yaml index 8a11f992..c9b7b70c 100644 --- a/sample/annotationless_perception/scenario.yaml +++ b/sample/annotationless_perception/scenario.yaml @@ -13,7 +13,7 @@ Evaluation: # When specifying conditions from result.jsonl, only keys described here will be updated. # Even though TRUCK metrics appear in result.jsonl, they are not added to the evaluation condition because the TRUCK key is not specified in this example. CAR: # classification key - lateral_deviation: { mean: { lower: 0.01, upper: 0.03 } } + lateral_deviation: { mean: { lower: 0.01, upper: 0.03 } } yaw_deviation: { mean: { lower: 0.05, upper: 0.09 } } predicted_path_deviation_5.00: { mean: { lower: 1.5, upper: 3.0 } } yaw_rate: { mean: { lower: 0.01, upper: 0.03 } } From 5837c4ccc114efa7e663974466643c6f86a6056c Mon Sep 17 00:00:00 2001 From: Hayato Mizushima Date: Fri, 26 Jul 2024 11:16:53 +0900 Subject: [PATCH 08/10] fix: unit test --- .../test_annotationless_perception.py | 50 ++++--------------- 1 file changed, 10 insertions(+), 40 deletions(-) diff --git a/log_evaluator/test/unittest/test_annotationless_perception.py b/log_evaluator/test/unittest/test_annotationless_perception.py index e0673df4..6fab99a3 100644 --- a/log_evaluator/test/unittest/test_annotationless_perception.py +++ b/log_evaluator/test/unittest/test_annotationless_perception.py @@ -15,12 +15,11 @@ from collections.abc import Callable from typing import Literal -from pydantic import ValidationError import pytest from log_evaluator.annotationless_perception import AnnotationlessPerceptionScenario -from log_evaluator.annotationless_perception import ClassConditionValue from log_evaluator.annotationless_perception import DiagValue +from log_evaluator.annotationless_perception import LowerUpper from log_evaluator.annotationless_perception import ObjectMetrics from log_evaluator.scenario import load_sample_scenario @@ -31,49 +30,20 @@ def test_scenario() -> None: AnnotationlessPerceptionScenario, ) assert scenario.ScenarioName == "sample_annotationless_perception" - assert scenario.Evaluation.Conditions.ClassConditions["BUS"].Threshold == { - "yaw_rate": DiagValue(max=0.05), + assert scenario.Evaluation.Conditions.ClassConditions["BUS"] == { + "yaw_rate": DiagValue(mean=LowerUpper(lower=0, upper=0.01)), } - assert scenario.Evaluation.Conditions.ClassConditions["BUS"].PassRange == { - "min": (0.0, 2.0), - "max": (0.0, 2.0), - "mean": (0.5, 2.0), - "metric_value": (0.9, 1.1), - } - - -def test_range_validation_upper_limit() -> None: - with pytest.raises(ValidationError): - ClassConditionValue( - Threshold={}, - PassRange={ - "min": "0.0-0.95", - "max": "0.0-2.0", - "mean": "0.5-2.0", - "metric_value": "0.9-1.1", - }, - ) - - -def test_range_validation_lower_limit() -> None: - with pytest.raises(ValidationError): - ClassConditionValue( - Threshold={}, - PassRange={ - "min": "1.1-2.0", - "max": "0.0-2.0", - "mean": "0.5-2.0", - "metric_value": "0.9-1.1", - }, - ) @pytest.fixture() def create_obj_metrics() -> ObjectMetrics: - condition = ClassConditionValue( - Threshold={"lateral_deviation": DiagValue(min=1.0, max=10.0, mean=5.0)}, - PassRange={"min": "0.2-1.05", "max": "0.0-1.05", "mean": "0.95-1.05"}, - ) + condition = { + "lateral_deviation": DiagValue( + min=LowerUpper(lower=0.2, upper=1.05), + max=LowerUpper(lower=0, upper=10.5), + mean=LowerUpper(lower=4.75, upper=5.25), + ), + } return ObjectMetrics( name="CAR", condition=condition, From 64441a8c4e1ff9144e13015428863330b0666d8f Mon Sep 17 00:00:00 2001 From: Hayato Mizushima Date: Fri, 26 Jul 2024 12:49:34 +0900 Subject: [PATCH 09/10] feat: add scenario migration script --- .../annotationless_perception_migration.py | 72 +++++++++++++++++++ .../scenario.ja.yaml | 27 ++----- .../annotationless_perception/scenario.yaml | 2 - 3 files changed, 78 insertions(+), 23 deletions(-) create mode 100644 log_evaluator_migration_tool/annotationless_perception_migration.py diff --git a/log_evaluator_migration_tool/annotationless_perception_migration.py b/log_evaluator_migration_tool/annotationless_perception_migration.py new file mode 100644 index 00000000..736ffcfd --- /dev/null +++ b/log_evaluator_migration_tool/annotationless_perception_migration.py @@ -0,0 +1,72 @@ +import argparse +from pathlib import Path + +import yaml + + +def convert_scenario(scenario_path: Path) -> None: + scenario_file = scenario_path.open("r+") + yaml_obj = yaml.safe_load(scenario_file) + + if yaml_obj["Evaluation"]["UseCaseName"] != "annotationless_perception": + print(f"{scenario_path} does not require conversion") # noqa + scenario_file.close() + return + + if ( + yaml_obj["ScenarioFormatVersion"] != "3.0.0" + or yaml_obj["Evaluation"]["UseCaseFormatVersion"] != "1.0.0" + ): + print(f"{scenario_path} does not match format version") # noqa + scenario_file.close() + return + + yaml_obj["Evaluation"]["UseCaseFormatVersion"] = "2.0.0" + + class_cond = yaml_obj["Evaluation"]["Conditions"]["ClassConditions"] + + for k, v in class_cond.items(): + pass_range_dict = expand_pass_range(v["PassRange"]) + for name, value in v["Threshold"].items(): + threshold_values = {} + for m_k, m_v in value.items(): + threshold_values[m_k] = { + "lower": m_v * pass_range_dict[m_k][0], + "upper": m_v * pass_range_dict[m_k][1], + } + class_cond[k] |= {name: threshold_values} + class_cond[k].pop("Threshold") + class_cond[k].pop("PassRange") + + # 既存の内容を消す + scenario_file.seek(0) + scenario_file.truncate() + + # 更新済みの内容を書き込む + yaml.safe_dump(yaml_obj, scenario_file, sort_keys=False) + scenario_file.close() + + +def expand_pass_range(pass_range_dict: dict) -> dict: + rtn_dict = {} + for k, v in pass_range_dict.items(): + s_lower, s_upper = v.split("-") + rtn_dict[k] = [float(s_lower), float(s_upper)] + return rtn_dict + + +def main() -> None: + parser = argparse.ArgumentParser() + parser.add_argument( + "data_directory", + help="data_directory of log_evaluator", + ) + args = parser.parse_args() + scenario_paths = Path(args.data_directory).resolve().glob("**/scenario*.y*ml") # yaml or yml + for scenario_path in sorted(scenario_paths): + print(f"convert {scenario_path}") # noqa + convert_scenario(scenario_path) + + +if __name__ == "__main__": + main() diff --git a/sample/annotationless_perception/scenario.ja.yaml b/sample/annotationless_perception/scenario.ja.yaml index 3d6d848e..0e2d81b8 100644 --- a/sample/annotationless_perception/scenario.ja.yaml +++ b/sample/annotationless_perception/scenario.ja.yaml @@ -10,29 +10,14 @@ Evaluation: ClassConditions: # クラス毎の条件を記述する。条件を設定がないクラスが出力された場合はメトリクスだけ計算される。評価には影響しない # サンプルデータではTRUCKのclassも出力されるが条件を記述してないので、TRUCKは必ずSuccessになる - # result.jsonlから条件指定を行う場合、ここに記述があるキーのみ更新される。 - # result.jsonlにTRUCKのメトリクスが出ていても、この例ではTRUCKのキーを指定していないので評価条件には追加されない。 CAR: # classification key - Threshold: - # 記述のないキーについては評価されない（必ず成功になる） - lateral_deviation: { max: 0.4, mean: 0.019 } - yaw_deviation: { max: 3.1411, mean: 0.05 } - predicted_path_deviation_5.00: { max: 16.464, mean: 1.8 } - total_objects_count_r60.00_h10.00: { metric_value: 10 } - PassRange: - min: 0.0-2.0 # lower[<=1.0]-upper[>=1.0] - max: 0.0-2.0 # lower[<=1.0]-upper[>=1.0] - mean: 0.5-2.0 # lower[<=1.0]-upper[>=1.0] - metric_value: 0.9-1.1 + lateral_deviation: { mean: { lower: 0.01, upper: 0.03 } } + yaw_deviation: { mean: { lower: 0.05, upper: 0.09 } } + predicted_path_deviation_5.00: { mean: { lower: 1.5, upper: 3.0 } } + yaw_rate: { mean: { lower: 0.01, upper: 0.03 } } BUS: # classification key - Threshold: - # Only lateral_deviation is evaluated. - yaw_rate: { max: 0.05 } # Only max is evaluated. - PassRange: - min: 0.0-2.0 # lower[<=1.0]-upper[>=1.0] - max: 0.0-2.0 # lower[<=1.0]-upper[>=1.0] - mean: 0.5-2.0 # lower[<=1.0]-upper[>=1.0] - metric_value: 0.9-1.1 + yaw_rate: { mean: { lower: 0, upper: 0.01 } } Datasets: - sample_dataset: VehicleId: default + diff --git a/sample/annotationless_perception/scenario.yaml b/sample/annotationless_perception/scenario.yaml index c9b7b70c..7355aa84 100644 --- a/sample/annotationless_perception/scenario.yaml +++ b/sample/annotationless_perception/scenario.yaml @@ -10,8 +10,6 @@ Evaluation: ClassConditions: # Describe the conditions for each class. If a class with no conditions is output, only the metrics are calculated. It does not affect the evaluation. # In the sample data, the class of TRUCK is also output, but the condition is not described, so TRUCK is always Success. - # When specifying conditions from result.jsonl, only keys described here will be updated. - # Even though TRUCK metrics appear in result.jsonl, they are not added to the evaluation condition because the TRUCK key is not specified in this example. CAR: # classification key lateral_deviation: { mean: { lower: 0.01, upper: 0.03 } } yaw_deviation: { mean: { lower: 0.05, upper: 0.09 } } From 08345d6f4163f4cb9a9161094c8ea67f834f01b0 Mon Sep 17 00:00:00 2001 From: Hayato Mizushima Date: Fri, 26 Jul 2024 13:20:08 +0900 Subject: [PATCH 10/10] feat: update migration script --- .../annotationless_perception_migration.py | 72 ------------------- .../log_evaluator_migration_tool.py | 51 +++++++++++++ .../scenario.ja.yaml | 1 - 3 files changed, 51 insertions(+), 73 deletions(-) delete mode 100644 log_evaluator_migration_tool/annotationless_perception_migration.py diff --git a/log_evaluator_migration_tool/annotationless_perception_migration.py b/log_evaluator_migration_tool/annotationless_perception_migration.py deleted file mode 100644 index 736ffcfd..00000000 --- a/log_evaluator_migration_tool/annotationless_perception_migration.py +++ /dev/null @@ -1,72 +0,0 @@ -import argparse -from pathlib import Path - -import yaml - - -def convert_scenario(scenario_path: Path) -> None: - scenario_file = scenario_path.open("r+") - yaml_obj = yaml.safe_load(scenario_file) - - if yaml_obj["Evaluation"]["UseCaseName"] != "annotationless_perception": - print(f"{scenario_path} does not require conversion") # noqa - scenario_file.close() - return - - if ( - yaml_obj["ScenarioFormatVersion"] != "3.0.0" - or yaml_obj["Evaluation"]["UseCaseFormatVersion"] != "1.0.0" - ): - print(f"{scenario_path} does not match format version") # noqa - scenario_file.close() - return - - yaml_obj["Evaluation"]["UseCaseFormatVersion"] = "2.0.0" - - class_cond = yaml_obj["Evaluation"]["Conditions"]["ClassConditions"] - - for k, v in class_cond.items(): - pass_range_dict = expand_pass_range(v["PassRange"]) - for name, value in v["Threshold"].items(): - threshold_values = {} - for m_k, m_v in value.items(): - threshold_values[m_k] = { - "lower": m_v * pass_range_dict[m_k][0], - "upper": m_v * pass_range_dict[m_k][1], - } - class_cond[k] |= {name: threshold_values} - class_cond[k].pop("Threshold") - class_cond[k].pop("PassRange") - - # 既存の内容を消す - scenario_file.seek(0) - scenario_file.truncate() - - # 更新済みの内容を書き込む - yaml.safe_dump(yaml_obj, scenario_file, sort_keys=False) - scenario_file.close() - - -def expand_pass_range(pass_range_dict: dict) -> dict: - rtn_dict = {} - for k, v in pass_range_dict.items(): - s_lower, s_upper = v.split("-") - rtn_dict[k] = [float(s_lower), float(s_upper)] - return rtn_dict - - -def main() -> None: - parser = argparse.ArgumentParser() - parser.add_argument( - "data_directory", - help="data_directory of log_evaluator", - ) - args = parser.parse_args() - scenario_paths = Path(args.data_directory).resolve().glob("**/scenario*.y*ml") # yaml or yml - for scenario_path in sorted(scenario_paths): - print(f"convert {scenario_path}") # noqa - convert_scenario(scenario_path) - - -if __name__ == "__main__": - main() diff --git a/log_evaluator_migration_tool/log_evaluator_migration_tool.py b/log_evaluator_migration_tool/log_evaluator_migration_tool.py index 7011d882..c49a0bd1 100644 --- a/log_evaluator_migration_tool/log_evaluator_migration_tool.py +++ b/log_evaluator_migration_tool/log_evaluator_migration_tool.py @@ -57,6 +57,56 @@ def convert_scenario(scenario_path: Path) -> None: scenario_file.close() +def update_annotationless_1_to_2(scenario_path: Path) -> None: + scenario_file = scenario_path.open("r+") + yaml_obj = yaml.safe_load(scenario_file) + + if yaml_obj["Evaluation"]["UseCaseName"] != "annotationless_perception": + scenario_file.close() + return + + if ( + yaml_obj["ScenarioFormatVersion"] != "3.0.0" + or yaml_obj["Evaluation"]["UseCaseFormatVersion"] != "1.0.0" + ): + print(f"{scenario_path} does not match format version") # noqa + scenario_file.close() + return + + yaml_obj["Evaluation"]["UseCaseFormatVersion"] = "2.0.0" + + class_cond = yaml_obj["Evaluation"]["Conditions"]["ClassConditions"] + + for k, v in class_cond.items(): + pass_range_dict = expand_pass_range(v["PassRange"]) + for name, value in v["Threshold"].items(): + threshold_values = {} + for m_k, m_v in value.items(): + threshold_values[m_k] = { + "lower": m_v * pass_range_dict[m_k][0], + "upper": m_v * pass_range_dict[m_k][1], + } + class_cond[k] |= {name: threshold_values} + class_cond[k].pop("Threshold") + class_cond[k].pop("PassRange") + + # 既存の内容を消す + scenario_file.seek(0) + scenario_file.truncate() + + # 更新済みの内容を書き込む + yaml.safe_dump(yaml_obj, scenario_file, sort_keys=False) + scenario_file.close() + + +def expand_pass_range(pass_range_dict: dict) -> dict: + rtn_dict = {} + for k, v in pass_range_dict.items(): + s_lower, s_upper = v.split("-") + rtn_dict[k] = [float(s_lower), float(s_upper)] + return rtn_dict + + def move_dataset_and_map(scenario_path: Path) -> None: scenario_file = scenario_path.open("r+") yaml_obj = yaml.safe_load(scenario_file) # scenario file is 3.0.0 format @@ -119,6 +169,7 @@ def main() -> None: for scenario_path in sorted(scenario_paths): print(f"convert {scenario_path}") # noqa convert_scenario(scenario_path) + update_annotationless_1_to_2(scenario_path) move_dataset_and_map(scenario_path) diff --git a/sample/annotationless_perception/scenario.ja.yaml b/sample/annotationless_perception/scenario.ja.yaml index 0e2d81b8..ace0cbc5 100644 --- a/sample/annotationless_perception/scenario.ja.yaml +++ b/sample/annotationless_perception/scenario.ja.yaml @@ -20,4 +20,3 @@ Evaluation: Datasets: - sample_dataset: VehicleId: default -