feat: add ground_segmentation_evaluator

nanoshimarobot commented 1 month ago

Types of PR

[x] New Features
[ ] Upgrade of existing features
[ ] Bugfix

Description

Add ground segmentation evaluator scenario. This evaluator has two types of ground truth data.

annotated pcd *.pcd.bin files located in t4_dataset/sample/data/LIDAR_CONCAT/ and the data has semantic label, provided by #107.
annotated rosbag The rosbag data in the input_bag contains annotated pointcloud data, captured from sources such as AWSIM.

How to review this PR

~~Please download this driving_log_replayer_data for ground_segmentaion evaluation: TIERIV_INTERNAL_LINK~~ ~~That data has only annotated pcd data, so please also check this annotated rosbag data: TIERIV_INTERNAL_LINK~~

Please download this driving_log_replayer_data for ground_segmentaion evaluation : TIERIV_INTERNAL_LINK There are separate scenario.yaml and input_bag files for each mode, as shown in the image below: Screenshot from 2024-08-19 15-41-36 Therefore, for testing, please modify each name to 'scenario.yaml' and 'input_bag/' before running the tests.

Others

When running ground_segmentation in 'annotated_rosbag' mode, it is necessary to modify the sensing module of autoware.universe as follows: https://github.com/autowarefoundation/autoware.universe/blob/main/sensing/autoware_pointcloud_preprocessor/src/filter.cpp#L383-L390
```
   if (utils::is_data_layout_compatible_with_point_xyzi(*cloud)) {
    RCLCPP_ERROR(
      get_logger(),
      "The pointcloud layout is compatible with PointXYZI. You may be using legacy "
      "code/data");
  }

  // return; <- comment out!
}
```
When running ground_segmentation in 'annotated_pcd' mode, it is necessary to reduce the rosbag play rate because the evaluation process takes longer than the ground_segmentation process in this mode. dlr simulation run -p ground_segmentation --launch_args play_rate:=0.1