feat: localization evaluator

[angry-crab]

Signed-off-by: Xinyu Wang [email protected]

Description

Localization evaluator (tested with Kitti raw dataset)

Related links

Evaluate performance of localization pipeline

Tests performed

Notes for reviewers

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[codecov[bot]]

Codecov Report

Merging #1066 (22eb644) into main (fb88141) will decrease coverage by 0.43%. The diff coverage is 0.00%.

:exclamation: Current head 22eb644 differs from pull request most recent head 39ed3f6. Consider uploading reports for the commit 39ed3f6 to get more accurate results

@@           Coverage Diff            @@
##            main   #1066      +/-   ##
========================================
- Coverage   9.94%   9.51%   -0.44%     
========================================
  Files       1117     973     -144     
  Lines      77941   65361   -12580     
  Branches   18117   11579    -6538     
========================================
- Hits        7752    6217    -1535     
+ Misses     62879   54063    -8816     
+ Partials    7310    5081    -2229     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	9.50% <ø> (-0.43%)	:arrow_down:	Carriedforward from a8809dd

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...r/include/localization_evaluator/interpolation.hpp	0.00% <0.00%> (ø)
...tion_evaluator/src/localization_evaluator_core.cpp	0.00% <0.00%> (ø)
...tion_evaluator/src/localization_evaluator_node.cpp	0.00% <0.00%> (ø)
...ator/nodes/costmap_generator/points_to_costmap.cpp	0.00% <0.00%> (-82.36%)	:arrow_down:
...tor/nodes/costmap_generator/objects_to_costmap.cpp	0.00% <0.00%> (-33.34%)	:arrow_down:
...vehicle_model/sim_model_ideal_steer_acc_geared.cpp	71.69% <0.00%> (-11.33%)	:arrow_down:
...ene_module/occlusion_spot/occlusion_spot_utils.hpp	50.00% <0.00%> (-7.15%)	:arrow_down:
...vehicle_model/sim_model_delay_steer_acc_geared.cpp	71.26% <0.00%> (-6.90%)	:arrow_down:
...autoware_utils/test/src/geometry/test_geometry.cpp	35.36% <0.00%> (-5.33%)	:arrow_down:
...include/tier4_autoware_utils/geometry/geometry.hpp	90.62% <0.00%> (-4.69%)	:arrow_down:
... and 435 more

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[angry-crab]

Comments and debugging logs will be removed after review.

[mitsudome-r]

I have talked with @angry-crab to refactor the code according to the diagram in the pdf. Uploading Localization Evaluator.pdf…

[mitsudome-r]

The code looks good to me. Maybe we should have the following in the readme:

• How to convert KITTI dataset into a rosbag.
• Recommended way to use this tool (e.g., with plotjuggler) It can be done with another PR if that sounds suitable.

[angry-crab]

The code looks good to me. Maybe we should have the following in the readme:

• How to convert KITTI dataset into a rosbag.
• Recommended way to use this tool (e.g., with plotjuggler) It can be done with another PR if that sounds suitable.

README is updated to include more detailed instructions and recommendation usage.

[angry-crab]

@mitsudome-r I reverted some weird commits. Please check again. If everything looks good, I'll merge this PR. Thanks.

[xmfcx]

@angry-crab are there any updates on this? It is approved but CI build seems to be failing.

[angry-crab]

@angry-crab are there any updates on this? It is approved but CI build seems to be failing.

This PR will be closed because there is already a package which does the same thing. I'll create another PR to merge some features into the existing package.