From 1f3ef2d2ed8db1d0edaa68c30ee46181253383f9 Mon Sep 17 00:00:00 2001 From: Esteve Fernandez Date: Wed, 3 Jul 2024 11:23:42 +0200 Subject: [PATCH] refactor(autoware_object_merger): move headers to src and rename package Signed-off-by: Esteve Fernandez --- .github/CODEOWNERS | 2 +- launch/tier4_perception_launch/package.xml | 2 +- .../CMakeLists.txt | 5 ++++- .../{object_merger => autoware_object_merger}/README.md | 0 .../config/data_association_matrix.param.yaml | 0 .../config/object_association_merger.param.yaml | 0 .../config/overlapped_judge.param.yaml | 0 .../launch/object_association_merger.launch.xml | 2 +- .../{object_merger => autoware_object_merger}/package.xml | 4 ++-- .../schema/data_association_matrix.schema.json | 0 .../schema/object_association_merger.schema.json | 0 .../schema/overlapped_judge.schema.json | 0 .../src/association/data_association.cpp | 4 ++-- .../src}/association/data_association.hpp | 2 +- .../src}/association/solver/gnn_solver.hpp | 6 +++--- .../src}/association/solver/gnn_solver_interface.hpp | 0 .../src}/association/solver/mu_ssp.hpp | 2 +- .../solver/mu_successive_shortest_path_wrapper.cpp | 2 +- .../src}/association/solver/ssp.hpp | 2 +- .../src/association/solver/successive_shortest_path.cpp | 2 +- .../src/object_association_merger_node.cpp | 0 .../src/object_association_merger_node.hpp | 2 +- 22 files changed, 20 insertions(+), 17 deletions(-) rename perception/{object_merger => autoware_object_merger}/CMakeLists.txt (90%) rename perception/{object_merger => autoware_object_merger}/README.md (100%) rename perception/{object_merger => autoware_object_merger}/config/data_association_matrix.param.yaml (100%) rename perception/{object_merger => autoware_object_merger}/config/object_association_merger.param.yaml (100%) rename perception/{object_merger => autoware_object_merger}/config/overlapped_judge.param.yaml (100%) rename perception/{object_merger => autoware_object_merger}/launch/object_association_merger.launch.xml (90%) rename perception/{object_merger => autoware_object_merger}/package.xml (91%) rename perception/{object_merger => autoware_object_merger}/schema/data_association_matrix.schema.json (100%) rename perception/{object_merger => autoware_object_merger}/schema/object_association_merger.schema.json (100%) rename perception/{object_merger => autoware_object_merger}/schema/overlapped_judge.schema.json (100%) rename perception/{object_merger => autoware_object_merger}/src/association/data_association.cpp (98%) rename perception/{object_merger/include/autoware_object_merger => autoware_object_merger/src}/association/data_association.hpp (96%) rename perception/{object_merger/include/autoware_object_merger => autoware_object_merger/src}/association/solver/gnn_solver.hpp (79%) rename perception/{object_merger/include/autoware_object_merger => autoware_object_merger/src}/association/solver/gnn_solver_interface.hpp (100%) rename perception/{object_merger/include/autoware_object_merger => autoware_object_merger/src}/association/solver/mu_ssp.hpp (94%) rename perception/{object_merger => autoware_object_merger}/src/association/solver/mu_successive_shortest_path_wrapper.cpp (95%) rename perception/{object_merger/include/autoware_object_merger => autoware_object_merger/src}/association/solver/ssp.hpp (93%) rename perception/{object_merger => autoware_object_merger}/src/association/solver/successive_shortest_path.cpp (99%) rename perception/{object_merger => autoware_object_merger}/src/object_association_merger_node.cpp (100%) rename perception/{object_merger => autoware_object_merger}/src/object_association_merger_node.hpp (98%) diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index a59a5d9ac224e..a4d187760d44e 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -106,6 +106,7 @@ map/map_tf_generator/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro map/util/lanelet2_map_preprocessor/** anh.nguyen.2@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp ryu.yamamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp perception/autoware_crosswalk_traffic_light_estimator/** satoshi.ota@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp perception/autoware_map_based_prediction/** kotaro.uetake@tier4.jp kyoichi.sugahara@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yoshi.ri@tier4.jp +perception/autoware_object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_object_range_splitter/** yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/autoware_object_velocity_splitter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp perception/autoware_radar_crossing_objects_noise_filter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp @@ -128,7 +129,6 @@ perception/lidar_apollo_segmentation_tvm_nodes/** ambroise.vincent@arm.com yoshi perception/lidar_centerpoint/** kenzo.lobos@tier4.jp koji.minoda@tier4.jp perception/lidar_transfusion/** amadeusz.szymko.2@tier4.jp kenzo.lobos@tier4.jp satoshi.tanaka@tier4.jp perception/multi_object_tracker/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp -perception/object_merger/** taekjin.lee@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/occupancy_grid_map_outlier_filter/** abrahammonrroy@yahoo.com yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/probabilistic_occupancy_grid_map/** mamoru.sobue@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp perception/radar_tracks_msgs_converter/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp taekjin.lee@tier4.jp yoshi.ri@tier4.jp diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index 349472ed5f8d3..9ef0fde7a1f4a 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -15,6 +15,7 @@ autoware_crosswalk_traffic_light_estimator autoware_map_based_prediction + autoware_object_merger autoware_object_range_splitter autoware_object_velocity_splitter autoware_radar_crossing_objects_noise_filter @@ -33,7 +34,6 @@ image_transport_decompressor lidar_apollo_instance_segmentation multi_object_tracker - object_merger occupancy_grid_map_outlier_filter pointcloud_preprocessor pointcloud_to_laserscan diff --git a/perception/object_merger/CMakeLists.txt b/perception/autoware_object_merger/CMakeLists.txt similarity index 90% rename from perception/object_merger/CMakeLists.txt rename to perception/autoware_object_merger/CMakeLists.txt index 2d9b490945caf..1010c94c42216 100644 --- a/perception/object_merger/CMakeLists.txt +++ b/perception/autoware_object_merger/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.14) -project(object_merger) +project(autoware_object_merger) find_package(autoware_cmake REQUIRED) autoware_package() @@ -28,6 +28,9 @@ target_link_libraries(${PROJECT_NAME} Eigen3::Eigen ) +target_include_directories(${PROJECT_NAME} + PRIVATE src) + rclcpp_components_register_node(${PROJECT_NAME} PLUGIN "autoware::object_merger::ObjectAssociationMergerNode" EXECUTABLE object_association_merger_node diff --git a/perception/object_merger/README.md b/perception/autoware_object_merger/README.md similarity index 100% rename from perception/object_merger/README.md rename to perception/autoware_object_merger/README.md diff --git a/perception/object_merger/config/data_association_matrix.param.yaml b/perception/autoware_object_merger/config/data_association_matrix.param.yaml similarity index 100% rename from perception/object_merger/config/data_association_matrix.param.yaml rename to perception/autoware_object_merger/config/data_association_matrix.param.yaml diff --git a/perception/object_merger/config/object_association_merger.param.yaml b/perception/autoware_object_merger/config/object_association_merger.param.yaml similarity index 100% rename from perception/object_merger/config/object_association_merger.param.yaml rename to perception/autoware_object_merger/config/object_association_merger.param.yaml diff --git a/perception/object_merger/config/overlapped_judge.param.yaml b/perception/autoware_object_merger/config/overlapped_judge.param.yaml similarity index 100% rename from perception/object_merger/config/overlapped_judge.param.yaml rename to perception/autoware_object_merger/config/overlapped_judge.param.yaml diff --git a/perception/object_merger/launch/object_association_merger.launch.xml b/perception/autoware_object_merger/launch/object_association_merger.launch.xml similarity index 90% rename from perception/object_merger/launch/object_association_merger.launch.xml rename to perception/autoware_object_merger/launch/object_association_merger.launch.xml index b26788bb04667..25ab021f44266 100644 --- a/perception/object_merger/launch/object_association_merger.launch.xml +++ b/perception/autoware_object_merger/launch/object_association_merger.launch.xml @@ -8,7 +8,7 @@ - + diff --git a/perception/object_merger/package.xml b/perception/autoware_object_merger/package.xml similarity index 91% rename from perception/object_merger/package.xml rename to perception/autoware_object_merger/package.xml index 5ca261b3ddf0e..e87ef8d81b01b 100644 --- a/perception/object_merger/package.xml +++ b/perception/autoware_object_merger/package.xml @@ -1,9 +1,9 @@ - object_merger + autoware_object_merger 0.1.0 - The object_merger package + The autoware_object_merger package Yukihiro Saito Yoshi Ri Taekjin Lee diff --git a/perception/object_merger/schema/data_association_matrix.schema.json b/perception/autoware_object_merger/schema/data_association_matrix.schema.json similarity index 100% rename from perception/object_merger/schema/data_association_matrix.schema.json rename to perception/autoware_object_merger/schema/data_association_matrix.schema.json diff --git a/perception/object_merger/schema/object_association_merger.schema.json b/perception/autoware_object_merger/schema/object_association_merger.schema.json similarity index 100% rename from perception/object_merger/schema/object_association_merger.schema.json rename to perception/autoware_object_merger/schema/object_association_merger.schema.json diff --git a/perception/object_merger/schema/overlapped_judge.schema.json b/perception/autoware_object_merger/schema/overlapped_judge.schema.json similarity index 100% rename from perception/object_merger/schema/overlapped_judge.schema.json rename to perception/autoware_object_merger/schema/overlapped_judge.schema.json diff --git a/perception/object_merger/src/association/data_association.cpp b/perception/autoware_object_merger/src/association/data_association.cpp similarity index 98% rename from perception/object_merger/src/association/data_association.cpp rename to perception/autoware_object_merger/src/association/data_association.cpp index e317ac63d9831..f9f6834bfb289 100644 --- a/perception/object_merger/src/association/data_association.cpp +++ b/perception/autoware_object_merger/src/association/data_association.cpp @@ -12,10 +12,10 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware_object_merger/association/data_association.hpp" +#include "association/data_association.hpp" #include "autoware/universe_utils/geometry/geometry.hpp" -#include "autoware_object_merger/association/solver/gnn_solver.hpp" +#include "association/solver/gnn_solver.hpp" #include "object_recognition_utils/object_recognition_utils.hpp" #include diff --git a/perception/object_merger/include/autoware_object_merger/association/data_association.hpp b/perception/autoware_object_merger/src/association/data_association.hpp similarity index 96% rename from perception/object_merger/include/autoware_object_merger/association/data_association.hpp rename to perception/autoware_object_merger/src/association/data_association.hpp index 8433e8f7af537..4cf3060ca52b2 100644 --- a/perception/object_merger/include/autoware_object_merger/association/data_association.hpp +++ b/perception/autoware_object_merger/src/association/data_association.hpp @@ -21,7 +21,7 @@ #define EIGEN_MPL2_ONLY -#include "autoware_object_merger/association/solver/gnn_solver.hpp" +#include "association/solver/gnn_solver.hpp" #include #include diff --git a/perception/object_merger/include/autoware_object_merger/association/solver/gnn_solver.hpp b/perception/autoware_object_merger/src/association/solver/gnn_solver.hpp similarity index 79% rename from perception/object_merger/include/autoware_object_merger/association/solver/gnn_solver.hpp rename to perception/autoware_object_merger/src/association/solver/gnn_solver.hpp index 6421dd6108a4a..d43982f644d5c 100644 --- a/perception/object_merger/include/autoware_object_merger/association/solver/gnn_solver.hpp +++ b/perception/autoware_object_merger/src/association/solver/gnn_solver.hpp @@ -15,8 +15,8 @@ #ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_ #define AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_ -#include "autoware_object_merger/association/solver/gnn_solver_interface.hpp" -#include "autoware_object_merger/association/solver/mu_ssp.hpp" -#include "autoware_object_merger/association/solver/ssp.hpp" +#include "association/solver/gnn_solver_interface.hpp" +#include "association/solver/mu_ssp.hpp" +#include "association/solver/ssp.hpp" #endif // AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__GNN_SOLVER_HPP_ diff --git a/perception/object_merger/include/autoware_object_merger/association/solver/gnn_solver_interface.hpp b/perception/autoware_object_merger/src/association/solver/gnn_solver_interface.hpp similarity index 100% rename from perception/object_merger/include/autoware_object_merger/association/solver/gnn_solver_interface.hpp rename to perception/autoware_object_merger/src/association/solver/gnn_solver_interface.hpp diff --git a/perception/object_merger/include/autoware_object_merger/association/solver/mu_ssp.hpp b/perception/autoware_object_merger/src/association/solver/mu_ssp.hpp similarity index 94% rename from perception/object_merger/include/autoware_object_merger/association/solver/mu_ssp.hpp rename to perception/autoware_object_merger/src/association/solver/mu_ssp.hpp index 364e9306112a7..d080c943eac79 100644 --- a/perception/object_merger/include/autoware_object_merger/association/solver/mu_ssp.hpp +++ b/perception/autoware_object_merger/src/association/solver/mu_ssp.hpp @@ -15,7 +15,7 @@ #ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_ #define AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__MU_SSP_HPP_ -#include "autoware_object_merger/association/solver/gnn_solver_interface.hpp" +#include "association/solver/gnn_solver_interface.hpp" #include #include diff --git a/perception/object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp b/perception/autoware_object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp similarity index 95% rename from perception/object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp rename to perception/autoware_object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp index 6a5dd6473da1f..a455e7755edd3 100644 --- a/perception/object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp +++ b/perception/autoware_object_merger/src/association/solver/mu_successive_shortest_path_wrapper.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware_object_merger/association/solver/mu_ssp.hpp" +#include "association/solver/mu_ssp.hpp" #include diff --git a/perception/object_merger/include/autoware_object_merger/association/solver/ssp.hpp b/perception/autoware_object_merger/src/association/solver/ssp.hpp similarity index 93% rename from perception/object_merger/include/autoware_object_merger/association/solver/ssp.hpp rename to perception/autoware_object_merger/src/association/solver/ssp.hpp index 41bf390829ade..c109731f86202 100644 --- a/perception/object_merger/include/autoware_object_merger/association/solver/ssp.hpp +++ b/perception/autoware_object_merger/src/association/solver/ssp.hpp @@ -15,7 +15,7 @@ #ifndef AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_ #define AUTOWARE_OBJECT_MERGER__ASSOCIATION__SOLVER__SSP_HPP_ -#include "autoware_object_merger/association/solver/gnn_solver_interface.hpp" +#include "association/solver/gnn_solver_interface.hpp" #include #include diff --git a/perception/object_merger/src/association/solver/successive_shortest_path.cpp b/perception/autoware_object_merger/src/association/solver/successive_shortest_path.cpp similarity index 99% rename from perception/object_merger/src/association/solver/successive_shortest_path.cpp rename to perception/autoware_object_merger/src/association/solver/successive_shortest_path.cpp index e384f12d60051..f95ceca7f7f85 100644 --- a/perception/object_merger/src/association/solver/successive_shortest_path.cpp +++ b/perception/autoware_object_merger/src/association/solver/successive_shortest_path.cpp @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "autoware_object_merger/association/solver/ssp.hpp" +#include "association/solver/ssp.hpp" #include #include diff --git a/perception/object_merger/src/object_association_merger_node.cpp b/perception/autoware_object_merger/src/object_association_merger_node.cpp similarity index 100% rename from perception/object_merger/src/object_association_merger_node.cpp rename to perception/autoware_object_merger/src/object_association_merger_node.cpp diff --git a/perception/object_merger/src/object_association_merger_node.hpp b/perception/autoware_object_merger/src/object_association_merger_node.hpp similarity index 98% rename from perception/object_merger/src/object_association_merger_node.hpp rename to perception/autoware_object_merger/src/object_association_merger_node.hpp index d11f58bc5a857..57975f2759843 100644 --- a/perception/object_merger/src/object_association_merger_node.hpp +++ b/perception/autoware_object_merger/src/object_association_merger_node.hpp @@ -18,7 +18,7 @@ #include "autoware/universe_utils/ros/debug_publisher.hpp" #include "autoware/universe_utils/ros/published_time_publisher.hpp" #include "autoware/universe_utils/system/stop_watch.hpp" -#include "autoware_object_merger/association/data_association.hpp" +#include "association/data_association.hpp" #include