evaluate_voxel_segmentation_by_gt_box.py

What is this?

../../_images/evaluate_voxel_segmentation_by_gt_box.gif

Evaluate three-dimensional voxel segmentation by a gt. (ground truth) bounding box.

Subscribing Topic

  • ~input/box_gt (jsk_recognition_msgs/BoundingBox)

    GT. bounding box.

  • ~input/markers (visualization_msgs/MarkerArray)

    Input voxel.

Publishing Topic

  • ~output (jsk_recognition_msgs/Accuracy)

    Accuracy of voxel segmentation evaluated by gt. box.

\[accuracy = \frac{Volume(voxels_{tp})}{Volume(box^{gt}) + Volume(voxels) - Volume(voxels_{tp})}\]

Sample

roslaunch jsk_pcl_ros_utils sample_evaluate_voxel_segmentation_by_gt_box.launch