evaluate_box_segmentation_by_gt_box.py

What is this?

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

Subscribing Topic

• ~input/box_gt (jsk_recognition_msgs/BoundingBox)

  GT. bounding box.

• ~input/box (jsk_recognition_msgs/BoundingBox)

  Input bounding box.

Publishing Topic

• ~output (jsk_recognition_msgs/Accuracy)

  Accuracy of box segmentation evaluated by gt. box.

\[ \begin{align}\begin{aligned}volume^{gt} = Volume(box^{gt} \cap box)\\accuracy = \frac{volume^{gt}}{Volume(box^{gt}) + Volume(box) - volume^{gt}}\end{aligned}\end{align} \]

Sample

roslaunch jsk_pcl_ros_utils sample_evaluate_box_segmentation_by_gt_box.launch