ROS package for the Perception (Sensor Processing, Detection, Tracking and Evaluation) of the KITTI Vision Benchmark Suite
ROS package for the Perception (Sensor Processing, Detection, Tracking and Evaluation) of the KITTI Vision Benchmark
Sticking to this folder structure is highly recommended:
~ # Home directory
├── catkin_ws # Catkin workspace
│ ├── src # Source folder
│ └── SARosPerceptionKitti # Repo
├── kitti_data # Dataset
│ ├── 0012 # Demo scenario 0012
│ │ └── synchronized_data.bag # Synchronized ROSbag file
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/appinho/SARosPerceptionKitti.git
cd ~/catkin_ws
catkin_make
source devel/setup.bash
kitti_data
directory, also stored under your home directory:mkdir ~/kitti_data && cd ~/kitti_data/
mv ~/Downloads/0012.zip .
unzip 0012.zip
rm 0012.zip
source devel/setup.bash
roslaunch sensor_processing sensor_processing.launch home_dir:=/home/YOUR_USERNAME
roslaunch detection detection.launch home_dir:=/home/YOUR_USERNAME
roslaunch tracking tracking.launch home_dir:=/home/YOUR_USERNAME
Without assigning any of the abovementioned parameters the demo scenario 0012 is replayed at 20% of its speed with a 3 second delay so RViz has enough time to boot up.
roslaunch evaluation evaluation.launch home_dir:=/home/YOUR_USERNAME
cd ~/catkin_ws/src/SARosPerceptionKitti/benchmark/python
python evaluate_tracking.py
Class | MOTA | MOTP | MOTAL | MODA | MODP |
---|---|---|---|---|---|
Car | 0.881119 | 0.633595 | 0.881119 | 0.881119 | 0.642273 |
Pedestrian | 0.546875 | 0.677919 | 0.546875 | 0.546875 | 0.836921 |
If you have any questions, things you would love to add or ideas how to actualize the points in the Area of Improvements, send me an email at [email protected] ! More than interested to collaborate and hear any kind of feedback.