feat(planning_data_analyzer): remove override scene related source and script

planning/autoware_planning_data_analyzer/CMakeLists.txt

@@ -2,15 +2,12 @@ cmake_minimum_required(VERSION 3.14)
 project(autoware_planning_data_analyzer)
 
 find_package(autoware_cmake REQUIRED)
-find_package(tf2_geometry_msgs REQUIRED)
 autoware_package()
 
 ament_auto_add_library(${PROJECT_NAME} SHARED
   src/buffer.cpp
   src/base_evaluator.cpp
   src/open_loop_evaluator.cpp
-  src/or_event_extractor.cpp
-  src/or_scene_evaluator.cpp
   src/metrics/deviation_metrics.cpp
   src/metrics/epdms_aggregation.cpp
   src/metrics/ego_progress.cpp
@@ -29,7 +26,6 @@ ament_auto_add_library(${PROJECT_NAME} SHARED
   src/utils/path_utils.cpp
   src/autoware_planning_data_analyzer_node.cpp
 )
-ament_target_dependencies(${PROJECT_NAME} tf2_geometry_msgs)
 
 rclcpp_components_register_node(${PROJECT_NAME}
   PLUGIN "autoware::planning_data_analyzer::AutowarePlanningDataAnalyzerNode"
@@ -67,5 +63,4 @@ ament_auto_package(
   INSTALL_TO_SHARE
   config
   launch
-  scripts
 )

planning/autoware_planning_data_analyzer/README.md

@@ -4,11 +4,6 @@
 
 This package provides offline evaluation tools for trajectory planning performance analysis from recorded rosbag data.
 
-## Evaluation Modes
-
-1. **Open Loop**: Evaluate prediction accuracy against ground truth trajectories
-2. **OR Scene**: Evaluate override regression scenarios (LIVE vs HISTORICAL)
-
 ## Open-Loop Evaluation
 
 Open-loop evaluation computes both trajectory error metrics and planning-quality subscores.
@@ -63,31 +58,6 @@ ros2 run autoware_planning_data_analyzer autoware_planning_data_analyzer_node --
   -p json_output_path:=~/results.json
 ```
 
-### OR Scene Evaluation
-
-```sh
-# Using the unified script
-./install/autoware_planning_data_analyzer/share/autoware_planning_data_analyzer/scripts/run_evaluation.sh \
-  -b ~/result_bag.mcap \
-  -m or_scene \
-  -t /planning/diffusion_planner/trajectory \
-  -o ~/results \
-  --live \
-  --viz
-```
-
-### Multi-Model Pipeline
-
-```sh
-# Evaluate multiple models from DLR results
-./install/autoware_planning_data_analyzer/share/autoware_planning_data_analyzer/scripts/multi_model_pipeline.sh \
-  --scenario ~/dataset/scenario.yaml \
-  --trajectory /planning/model_a/trajectory \
-  --trajectory /planning/model_b/trajectory \
-  --output ~/comparison \
-  --viz
-```
-
 ## Output Files
 
 - **`evaluation_result.json`** - Detailed metrics (ADE, FDE, TTC, etc.) and summary statistics
@@ -96,28 +66,17 @@ ros2 run autoware_planning_data_analyzer autoware_planning_data_analyzer_node --
 
 ## Parameters
 
-Key parameters in `config/offline_evaluation.param.yaml`:
+Key parameters in `config/planning_data_analyzer.param.yaml`:
 
-- `evaluation.mode`: Evaluation mode (`open_loop` or `or_scene`)
+- `evaluation.mode`: Evaluation mode (`open_loop`)
 - `evaluation_interval_ms`: Sampling interval (default: 100ms)
 - `sync_tolerance_ms`: Time synchronization tolerance (default: 100ms)
 - `trajectory_topic`: Trajectory topic to evaluate
-- `or_scene_evaluation.*`: OR scene specific settings
-
-### Utility Scripts
-
-Located in `scripts/` directory:
-
-- **Bag Processing**: `merge_bags.py`, `rename_bag_topic.py`, `add_prefix_to_bag.py`
-- **Ground Truth**: `add_gt_trajectory_to_bag.py`
-- **OR Analysis**: `detect_or_and_route.py`, `evaluate_or_segments.py`
-- **Visualization**: `generate_or_visualization.py`
-- **Comparison**: `compare_live_historical.py`
+- `open_loop.*`: Open-loop specific settings
 
 ---
 
 ## For More Information
 
-- Offline evaluation scripts: [scripts/](scripts/)
 - Configuration: [config/planning_data_analyzer.param.yaml](config/planning_data_analyzer.param.yaml)
 - Launch files: [launch/](launch/)

planning/autoware_planning_data_analyzer/config/planning_data_analyzer.param.yaml

@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
     # Evaluation Mode
-    # Options: "open_loop" or "or_scene"
+    # Options: "open_loop"
     evaluation:
       mode: "open_loop"
 
@@ -60,34 +60,3 @@
       lane_keep:
         max_lateral_deviation: 0.5  # Maximum absolute lateral deviation allowed for LK [m]
         max_continuous_violation_time: 2.0  # Continuous over-threshold duration allowed for LK [s]
-
-    # OR Scene Evaluation Configuration (only used when mode="or_scene")
-    or_scene_evaluation:
-      # Time window configuration (symmetric around OR event)
-      time_window_sec: 0.5  # Time window on each side of OR event [OR - 0.5s, OR + 0.5s]
-
-      # Trajectory source selection
-      evaluate_live_trajectories: true  # true = evaluate result_bag (DLR output with LIVE trajectories)
-                                        # false = evaluate input_bag (HISTORICAL recorded trajectories)
-      input_bag_path: ""  # Path to input bag (only used if evaluate_live_trajectories=false)
-
-      # Topics to monitor
-      control_mode_topic: "/vehicle/status/control_mode"  # Topic for OR detection (ControlModeReport)
-
-      # OR event extraction (Stage 1)
-      skip_or_extraction: false  # Set true if or_events.json already exists
-      or_events_input_path: ""  # Path to pre-extracted or_events.json (optional)
-      or_events_output_path: "~/or_events.json"  # Where to save extracted OR events
-
-      # Success criteria (optional - disabled by default)
-      success_criteria:
-        enabled: false  # Set true to enforce thresholds
-        max_ade: 1.0  # Maximum allowed ADE (meters)
-        max_fde: 1.5  # Maximum allowed FDE (meters)
-        max_lateral_deviation: 0.5  # Maximum absolute lateral deviation in the vehicle frame (meters)
-        min_ttc: 3.0  # Minimum required TTC (seconds)
-
-      # Debug visualization
-      enable_debug_visualization: false  # Generate debug images showing predicted vs GT trajectories
-      debug_output_dir: "~/or_scene_debug_images"  # Directory for debug visualization images
-      map_path: ""  # Optional: path to lanelet2_map.osm for lane visualization