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fix(perception_online_evaluator): revert "add metric_value not only stat (#7100)" #7118

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May 24, 2024
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fix(perception_online_evaluator): revert "add metric_value not only stat (#7100)" #7118

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5 changes: 0 additions & 5 deletions evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/metric.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,6 @@
#include <iostream>
#include <string>
#include <unordered_map>
#include <variant>
#include <vector>

namespace perception_diagnostics
Expand All @@ -37,11 +36,7 @@ enum class Metric {
SIZE,
};

// Each metric has a different return type. (statistic or just a one value etc).
// To handle them all in the MetricsCalculator::calculate function, define MetricsMap as a variant
using MetricStatMap = std::unordered_map<std::string, Stat<double>>;
using MetricValueMap = std::unordered_map<std::string, double>;
using MetricsMap = std::variant<MetricStatMap, MetricValueMap>;

struct PredictedPathDeviationMetrics
{
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4 changes: 2 additions & 2 deletions ...or/perception_online_evaluator/include/perception_online_evaluator/metrics_calculator.hpp
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Expand Up @@ -96,7 +96,7 @@ class MetricsCalculator
* @param [in] metric Metric enum value
* @return map of string describing the requested metric and the calculated value
*/
std::optional<MetricsMap> calculate(const Metric & metric) const;
std::optional<MetricStatMap> calculate(const Metric & metric) const;

/**
* @brief set the dynamic objects used to calculate obstacle metrics
Expand Down Expand Up @@ -143,7 +143,7 @@ class MetricsCalculator
PredictedPathDeviationMetrics calcPredictedPathDeviationMetrics(
const PredictedObjects & objects, const double time_horizon) const;
MetricStatMap calcYawRateMetrics(const ClassObjectsMap & class_objects_map) const;
MetricValueMap calcObjectsCountMetrics() const;
MetricStatMap calcObjectsCountMetrics() const;

bool hasPassedTime(const rclcpp::Time stamp) const;
bool hasPassedTime(const std::string uuid, const rclcpp::Time stamp) const;
Expand Down
2 changes: 0 additions & 2 deletions ...online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp
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Expand Up @@ -61,8 +61,6 @@ class PerceptionOnlineEvaluatorNode : public rclcpp::Node

DiagnosticStatus generateDiagnosticStatus(
const std::string metric, const Stat<double> & metric_stat) const;
DiagnosticStatus generateDiagnosticStatus(
const std::string metric, const double metric_value) const;

private:
// Subscribers and publishers
Expand Down
16 changes: 9 additions & 7 deletions evaluator/perception_online_evaluator/src/metrics_calculator.cpp
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Expand Up @@ -26,7 +26,7 @@ namespace perception_diagnostics
using object_recognition_utils::convertLabelToString;
using tier4_autoware_utils::inverseTransformPoint;

std::optional<MetricsMap> MetricsCalculator::calculate(const Metric & metric) const
std::optional<MetricStatMap> MetricsCalculator::calculate(const Metric & metric) const
{
// clang-format off
const bool use_past_objects = metric == Metric::lateral_deviation ||
Expand Down Expand Up @@ -455,14 +455,15 @@ MetricStatMap MetricsCalculator::calcYawRateMetrics(const ClassObjectsMap & clas
return metric_stat_map;
}

MetricValueMap MetricsCalculator::calcObjectsCountMetrics() const
MetricStatMap MetricsCalculator::calcObjectsCountMetrics() const
{
MetricValueMap metric_stat_map;
MetricStatMap metric_stat_map;
// calculate the average number of objects in the detection area in all past frames
const auto overall_average_count = detection_counter_.getOverallAverageCount();
for (const auto & [label, range_and_count] : overall_average_count) {
for (const auto & [range, count] : range_and_count) {
metric_stat_map["average_objects_count_" + convertLabelToString(label) + "_" + range] = count;
metric_stat_map["average_objects_count_" + convertLabelToString(label) + "_" + range].add(
count);
}
}
// calculate the average number of objects in the detection area in the past
Expand All @@ -471,16 +472,17 @@ MetricValueMap MetricsCalculator::calcObjectsCountMetrics() const
detection_counter_.getAverageCount(parameters_->objects_count_window_seconds);
for (const auto & [label, range_and_count] : average_count) {
for (const auto & [range, count] : range_and_count) {
metric_stat_map
["interval_average_objects_count_" + convertLabelToString(label) + "_" + range] = count;
metric_stat_map["interval_average_objects_count_" + convertLabelToString(label) + "_" + range]
.add(count);
}
}

// calculate the total number of objects in the detection area
const auto total_count = detection_counter_.getTotalCount();
for (const auto & [label, range_and_count] : total_count) {
for (const auto & [range, count] : range_and_count) {
metric_stat_map["total_objects_count_" + convertLabelToString(label) + "_" + range] = count;
metric_stat_map["total_objects_count_" + convertLabelToString(label) + "_" + range].add(
count);
}
}

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39 changes: 7 additions & 32 deletions evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp
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Expand Up @@ -69,25 +69,16 @@ void PerceptionOnlineEvaluatorNode::publishMetrics()

// calculate metrics
for (const Metric & metric : parameters_->metrics) {
const auto metric_result = metrics_calculator_.calculate(Metric(metric));
if (!metric_result.has_value()) {
const auto metric_stat_map = metrics_calculator_.calculate(Metric(metric));
if (!metric_stat_map.has_value()) {
continue;
}

std::visit(
[&metrics_msg, this](auto && arg) {
using T = std::decay_t<decltype(arg)>;
for (const auto & [metric, value] : arg) {
if constexpr (std::is_same_v<T, MetricStatMap>) {
if (value.count() > 0) {
metrics_msg.status.push_back(generateDiagnosticStatus(metric, value));
}
} else if constexpr (std::is_same_v<T, MetricValueMap>) {
metrics_msg.status.push_back(generateDiagnosticStatus(metric, value));
}
}
},
metric_result.value());
for (const auto & [metric, stat] : metric_stat_map.value()) {
if (stat.count() > 0) {
metrics_msg.status.push_back(generateDiagnosticStatus(metric, stat));
}
}
}

// publish metrics
Expand Down Expand Up @@ -120,22 +111,6 @@ DiagnosticStatus PerceptionOnlineEvaluatorNode::generateDiagnosticStatus(
return status;
}

DiagnosticStatus PerceptionOnlineEvaluatorNode::generateDiagnosticStatus(
const std::string metric, const double value) const
{
DiagnosticStatus status;

status.level = status.OK;
status.name = metric;

diagnostic_msgs::msg::KeyValue key_value;
key_value.key = "metric_value";
key_value.value = std::to_string(value);
status.values.push_back(key_value);

return status;
}

void PerceptionOnlineEvaluatorNode::onObjects(const PredictedObjects::ConstSharedPtr objects_msg)
{
metrics_calculator_.setPredictedObjects(*objects_msg, *tf_buffer_);
Expand Down
14 changes: 1 addition & 13 deletions evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp
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Expand Up @@ -141,19 +141,7 @@
[=](const DiagnosticArray::ConstSharedPtr msg) {
const auto it = std::find_if(msg->status.begin(), msg->status.end(), is_target_metric);
if (it != msg->status.end()) {
const auto mean_it = std::find_if(
it->values.begin(), it->values.end(),
[](const auto & key_value) { return key_value.key == "mean"; });
if (mean_it != it->values.end()) {
metric_value_ = boost::lexical_cast<double>(mean_it->value);
} else {
const auto metric_value_it = std::find_if(
it->values.begin(), it->values.end(),
[](const auto & key_value) { return key_value.key == "metric_value"; });
if (metric_value_it != it->values.end()) {
metric_value_ = boost::lexical_cast<double>(metric_value_it->value);
}
}
metric_value_ = boost::lexical_cast<double>(it->values[2].value);

Check notice on line 144 in evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ No longer an issue: Bumpy Road Ahead 

setTargetMetric is no longer above the threshold for logical blocks with deeply nested code
metric_updated_ = true;
}
});
Expand Down
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