[Feature] Tracking accuracy can be measured by KITTI data (autowarefo…

…undation#1671)

ros/src/computing/perception/detection/lidar_tracker/packages/lidar_imm_ukf_pda_track/README.md

@@ -87,6 +87,13 @@ Node: visualize_detected_objects
 |`/detected_objects/target_id`|`visualization_msgs::Marker`|Visualize targets' id.|
 
 
+
 ### Video
 
 [![IMM UKF PDA lidar_tracker Autoware](https://img.youtube.com/vi/tKgDVsIfH-s/0.jpg)](https://youtu.be/tKgDVsIfH-s)
+
+
+### Benchmark
+Please notice that benchmark scripts are in another repository.
+You can tune parameters by using benchmark based on KITTI dataset.
+The repository is [here](https://github.com/cirpue49/kitti_tracking_benchmark).

ros/src/computing/perception/detection/lidar_tracker/packages/lidar_imm_ukf_pda_track/include/imm_ukf_pda.h

@@ -83,6 +83,14 @@ class ImmUkfPda
   // whether if publish debug ros markers
   bool is_debug_;
 
+  // whether if benchmarking tracking result
+  bool is_benchmark_;
+  int frame_count_;
+  std::string kitti_data_dir_;
+
+  // for benchmark
+  std::string result_file_path_;
+
   // prevent explode param for ukf
   double prevent_explosion_thres_;
 
@@ -150,6 +158,8 @@ class ImmUkfPda
 
   void pubDebugRosMarker(const autoware_msgs::DetectedObjectArray& input);
 
+  void dumpResultText(autoware_msgs::DetectedObjectArray& detected_objects);
+
   void tracker(const autoware_msgs::DetectedObjectArray& transformed_input,
                jsk_recognition_msgs::BoundingBoxArray& jskbboxes_output,
                autoware_msgs::DetectedObjectArray& detected_objects_output);

ros/src/computing/perception/detection/lidar_tracker/packages/lidar_imm_ukf_pda_track/nodes/imm_ukf_pda/imm_ukf_pda.cpp

@@ -37,7 +37,8 @@
 ImmUkfPda::ImmUkfPda()
   : target_id_(0)
   ,  // assign unique ukf_id_ to each tracking targets
-  init_(false)
+  init_(false),
+  frame_count_(0)
 {
   ros::NodeHandle private_nh_("~");
   private_nh_.param<std::string>("pointcloud_frame", pointcloud_frame_, "velodyne");
@@ -51,6 +52,15 @@ ImmUkfPda::ImmUkfPda()
   private_nh_.param<double>("prevent_explosion_thres", prevent_explosion_thres_, 1000);
   private_nh_.param<bool>("use_sukf", use_sukf_, false);
   private_nh_.param<bool>("is_debug", is_debug_, false);
+
+  // rosparam for benchmark
+  private_nh_.param<bool>("is_benchmark", is_benchmark_, false);
+  private_nh_.param<std::string>("kitti_data_dir", kitti_data_dir_, "/home/hoge/kitti/2011_09_26/2011_09_26_drive_0005_sync/");
+  if(is_benchmark_)
+  {
+    result_file_path_ = kitti_data_dir_ + "benchmark_results.txt";
+    std::remove(result_file_path_.c_str());
+  }
 }
 
 void ImmUkfPda::run()
@@ -80,6 +90,11 @@ void ImmUkfPda::callback(const autoware_msgs::DetectedObjectArray& input)
   transformPoseToLocal(jskbboxes_output, detected_objects_output);
   pub_jskbbox_array_.publish(jskbboxes_output);
   pub_object_array_.publish(detected_objects_output);
+
+  if(is_benchmark_)
+  {
+    dumpResultText(detected_objects_output);
+  }
 }
 
 void ImmUkfPda::relayJskbbox(const autoware_msgs::DetectedObjectArray& input,
@@ -752,6 +767,39 @@ void ImmUkfPda::pubDebugRosMarker(const autoware_msgs::DetectedObjectArray& inpu
   pub_texts_array_.publish(texts_markers);
 }
 
+void ImmUkfPda::dumpResultText(autoware_msgs::DetectedObjectArray& detected_objects)
+{
+  std::ofstream outputfile(result_file_path_, std::ofstream::out | std::ofstream::app);
+  for(size_t i = 0; i < detected_objects.objects.size(); i++)
+  {
+    double yaw = tf::getYaw(detected_objects.objects[i].pose.orientation);
+
+    // KITTI tracking benchmark data format:
+    // (frame_number,tracked_id, object type, truncation, occlusion, observation angle, x1,y1,x2,y2, h, w, l, cx, cy, cz, yaw)
+    // x1, y1, x2, y2 are for 2D bounding box.
+    // h, w, l, are for height, width, length respectively
+    // cx, cy, cz are for object centroid
+
+    // Tracking benchmark is based on frame_number, tracked_id,
+    // bounding box dimentions and object pose(centroid and orientation) from bird-eye view
+    outputfile << std::to_string(frame_count_)                               <<" "
+               << std::to_string(detected_objects.objects[i].id)             <<" "
+               << "Unknown"                                                  <<" "
+               << "-1"                                                       <<" "
+               << "-1"                                                       <<" "
+               << "-1"                                                      <<" "
+               << "-1 -1 -1 -1"                                              <<" "
+               << std::to_string(detected_objects.objects[i].dimensions.x)   <<" "
+               << std::to_string(detected_objects.objects[i].dimensions.y)   <<" "
+               << "-1"                                                       <<" "
+               << std::to_string(detected_objects.objects[i].pose.position.x)<<" "
+               << std::to_string(detected_objects.objects[i].pose.position.y)<<" "
+               << "-1"                                                       <<" "
+               << std::to_string(yaw)                                        <<"\n";
+  }
+  frame_count_ ++;
+}
+
 void ImmUkfPda::tracker(const autoware_msgs::DetectedObjectArray& input,
                         jsk_recognition_msgs::BoundingBoxArray& jskbboxes_output,
                         autoware_msgs::DetectedObjectArray& detected_objects_output)