feat: add stopped vel parameter

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

Author: kosuke55

evaluator/perception_online_evaluator/README.md

@@ -27,6 +27,7 @@ This module allows for the evaluation of how accurately perception results are g
 | `selected_metrics`                | List         | Metrics to be evaluated, such as lateral deviation, yaw deviation, and predicted path deviation. |
 | `smoothing_window_size`           | Integer      | Determines the window size for smoothing path, should be an odd number.                          |
 | `prediction_time_horizons`        | list[double] | Time horizons for prediction evaluation in seconds.                                              |
+| `stopped_velocity_threshold`      | double       | threshold velocity to check if vehicle is stopped                                                |
 | `target_object.*.check_deviation` | bool         | Whether to check deviation for specific object types (car, truck, etc.).                         |
 | `debug_marker.*`                  | bool         | Debugging parameters for marker visualization (history path, predicted path, etc.).              |
 

evaluator/perception_online_evaluator/include/perception_online_evaluator/parameters.hpp

@@ -48,6 +48,7 @@ struct Parameters
   std::vector<Metric> metrics;
   size_t smoothing_window_size{0};
   std::vector<double> prediction_time_horizons;
+  double stopped_velocity_threshold{0.0};
   DebugMarkerParameter debug_marker_parameters;
   // parameters depend on object class
   std::unordered_map<uint8_t, ObjectParameter> object_parameters;

evaluator/perception_online_evaluator/param/perception_online_evaluator.defaults.yaml

@@ -11,6 +11,8 @@
 
     prediction_time_horizons: [1.0, 2.0, 3.0, 5.0]
 
+    stopped_velocity_threshold: 0.3
+
     target_object:
       car:
         check_deviation: true

evaluator/perception_online_evaluator/src/metrics_calculator.cpp

@@ -40,9 +40,8 @@ std::optional<MetricStatMap> MetricsCalculator::calculate(const Metric & metric)
   const auto class_objects_map = separateObjectsByClass(target_stamp_objects);
 
   // filter stopped objects
-  constexpr double stopped_velocity_threshold = 0.1;
   const auto stopped_objects =
-    filterObjectsByVelocity(target_stamp_objects, stopped_velocity_threshold);
+    filterObjectsByVelocity(target_stamp_objects, parameters_->stopped_velocity_threshold);
   const auto class_stopped_objects_map = separateObjectsByClass(stopped_objects);
 
   switch (metric) {
@@ -392,7 +391,6 @@ MetricStatMap MetricsCalculator::calcYawRateMetrics(const ClassObjectsMap & clas
 
 void MetricsCalculator::setPredictedObjects(const PredictedObjects & objects)
 {
-  // using TimeStamp = builtin_interfaces::msg::Time;
   current_stamp_ = objects.header.stamp;
 
   // store objects to check deviation

evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp

@@ -280,6 +280,8 @@ void PerceptionOnlineEvaluatorNode::initParameter()
   p->smoothing_window_size = getOrDeclareParameter<int>(*this, "smoothing_window_size");
   p->prediction_time_horizons =
     getOrDeclareParameter<std::vector<double>>(*this, "prediction_time_horizons");
+  p->stopped_velocity_threshold =
+    getOrDeclareParameter<double>(*this, "stopped_velocity_threshold");
 
   // set metrics
   const auto selected_metrics =